Research on obstacle avoidance method of cooperative robot based on human motion prediction
Aiming at the problem of misidentification and collision detection in human-robot collaboration(HRC)system,extraction and modeling methods of human joint information are studied.A coarse error elimination strategy based on distance between joints is designed.After analyzing the law of hand motion trajectory,a joint position tracking and prediction method based on historical trajectories is proposed,by using differential method to derive the velocity so as to predict the position of the next time node,and corrects and supplements when the data collected by camera is abnormal.Based on the idea of the oriented bounding box (OBB ),a human-machine collision detection model is established,which finds a calculation method for the actual minimum distance between the envelope of the manipulator and the obstacle,avoids the wrong judgment of the system and the generation of redundant collision avoidance actions.Collision detection simulation is carried out for the method.The results show that the proposed method is stable and reliable,and can effectively avoid collisions in HRC.
万方数据
维普
