协作环境下的人机距离建模与最小距离迭代算法

为了使机器人适应更广泛、更复杂的任务需求，实现人与机器人的协作与共融，精确并实时地计算人与机器人之间的相对距离成为了不可避免的问题.针对该问题，提出了一种协作环境下的人机距离建模方法以及计算人机间最小距离的迭代算法.首先，利用机器人的3D模型构建机器人结构特征，并通过3D视觉传感器提取人体骨骼特征，将以上2组特征映射到同一坐标空间中建立协作环境下的人机距离模型.然后，在此模型的基础上迭代计算人与机器人间的最小距离并给出对应的空间位置点.最后以ABB公司的YuMi机器人为测试对象进行人机最小距离测量实验，实验结果表明该方法降低了建模难度、实现了计算的实时性，验证了该建模方法与迭代算法的有效性和实用性.

Human-Robot Distance Modeling and Minimum Distance IterativeAlgorithm in Collaboration Environment

In order to enable the robot to adapt to the broader and more complex tasks and make human and robot achieve collaboration and communion, the accurate and real-time calculation of relative distance between the human and the robot becomes an unavoidable issue. For the problem, a modeling method of human-robot distance in collaboration environment and an iterative algorithm for computing the minimum distance between the human and the robot are presented. Firstly, the structure features of the robot are constructed by the 3D model of the robot, and human skeletal features are extracted by 3D visual sensor. The above two groups of features are mapped to the same coordinate space to establish the human-robot distance model in collaboration environment. Then, on the basis of this model, the minimum distance between the human and the robot is computed iteratively and the corresponding spatial position points are given. Finally, the YuMi robot of ABB company is used as the test object to measure the minimum distance between the human and the robot. The experimental results show that the proposed method reduces the difficulty of modeling and realizes the real-time calculation, and the validity and practicability of the proposed modeling method and iterative algorithm are verified.