基于危险指数最小化的机器人实时安全避碰策略
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摘要
为避免机器人在作业过程中撞到人,提出了一种能够主动提高机器人安全性的方法,即基于危险指数最小化的机器人安全避碰控制策略。该方法通过实时评估机器人运行过程中的危险指数,当危险指数达到最大安全允许值时,将在危险指数最小化的方向产生一个虚拟推动力使机器人迅速远离人,从而避免机器人与人发生碰撞。仿真结果表明,基于危险指数最小化的机器人实时安全避碰控制能够保证动态人机共处环境中人的安全性。
In order to prevent robot colliding to human during operation,a method of robot safe anti-collision control is presented based on minimized danger index,which can actively improve robot safety. Through real time evaluation of the danger index during robot motion,and once reaching the maximum allowable value of the danger index,a virtual driving force was produced by this method,which could push the robot rapidly away from human in the direction of the minimized danger index,and avoid robot collisions with human. The simulation result verifies that robot safe anti-collision control based on minimized danger index can guarantee human safety in dynamic environment of human-robot coexisting.
In order to prevent robot colliding to human during operation,a method of robot safe anti-collision control is presented based on minimized danger index,which can actively improve robot safety. Through real time evaluation of the danger index during robot motion,and once reaching the maximum allowable value of the danger index,a virtual driving force was produced by this method,which could push the robot rapidly away from human in the direction of the minimized danger index,and avoid robot collisions with human. The simulation result verifies that robot safe anti-collision control based on minimized danger index can guarantee human safety in dynamic environment of human-robot coexisting.
引文
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[3]CORKE P I.Safety of Advanced Robots in Human Environments[J].Discussion Paper for IARP,1999.
[4]LEE C W,BIEN Z,GIRALT G,et al.Technical Challenge for Dependable Robots in Human Environments[R].Report on the First IART/IEEE-RAS Joint Workshop,2001.
[5]吴海彬,杨剑鸣.机器人在人机交互过程中安全性研究进展[J].中国安全科学学报,2011,21(11):79-86.WU H B,YANG J M.Progress in Robot Safety Research During Human-robot Interaction[J].China Safety Science Journal,2011,21(11):79-86.
[6]GOETHALS P,SETTE M M,REYNAERTS D,et al.Flexible Elastoresistive Tactile Sensor for Minimally Invasive Surgery[C]//Lecture Notes in Computer Science:Berlin,Germany:Springer,2008,5024:573-579.
[7]石金进,吴海彬,马志举.一种新型机器人仿生皮肤的设计[J].机器人,2013,35(1):32-38.SHI J J,WU H B,MA Z J.Design of a New Robot Skin[J].Robot,2013,35(1):32-38.
[8]YAMADA Y,YAMAMOTO T,MORIZONO T,et al.FTAbased Issues on Securing Human Safety in a Human/robot Coexistance System[C]//in:IEEE Systems,Man and Cybernetics SMC’99,1999:063-1068.
[9]YAMADA Y,HIRAWAWA Y,HUANG S,et al.Human-robot Contact in the Safeguarding Space[J].IEEE/ASME Transactions on Mechatronics,1997,2(4):230-236.
[10]ZINN M,KHATIB O,ROTH B,et al.Towards a Humancentered Intrinsically Safe Robotic Manipulator[C]//in:IARP-IEEE/RAS Joint Workshop on Technical Challenges for Dependable Robots in Human Environments,2002.
[11]ZINN M,KHATIB O,ROTH B.A New Actuation Approach for Human Friendly Robot Design[C]//in:IEEE International Conference on Robotics and Automation,2004:249-254.
[12]BEARVELDT A J.Cooperation Between Man and Robot:Interface and Safety[C]//in:IEEE International Workshop on Robot Human Communication,1993:183-187.
[13]ZURADA J,WRIGHT A L,GRAHAM J H.A Neuro-fuzzy Approach for Robot System Safety[C]//IEEE Transactions on Systems,Man and Cybernetics—Part C:Applications and Reviews,2001,31(1):49-64.
[14]IKUTA K,NOKATA M,ISHII H.Safety Evaluation Method of Human-Care Robot Control[C]//2000 Interntional Symposium on Micromecharonics and Human Science,2000:119-127.
[15]IKUTA K,NOKATA M,ISHII H.Safety Evaluation Method of Design and Control for Human-care Robots[J].The International Journal of Robotics Research,2003,22(5):281-297.
[16]NOKATA M,IKUTA K,ISHII H.Safety-optimizing Method of Human-care Robot Design and Control[C]//in:Proceedings of the 2002 IEEE International Conference on Robotics and Automation,2002:1991-1996.
[17]KULIC D,CROFT E A.Real-time Safety for Human-robot Interaction[J].Robotics and Autonomous Systems,2006,54(1):1-12.
[18]吴海彬,彭爱泉,何素梅.基于危险指数最小化的机器人安全运动规划[J].机械工程学报,2015,51(9):18-27.WU H B,PENG A Q,HE S M.Robot Safe Motion Planning Based on Minimized Danger Index[J].Journal of Mechanical Engineerin,2015,51(9):18-27.
[19]KHATIB O.Real-Time Obstacle Avoidance for Manipulators and Mobile Robots[J].The International Journal of Robotics Research,1986,5(1):90-98.
[20]TSUJI T,KANZKO M.Noncontact Impedance Control for Redundant Manipulators[J].IEEE Transactions on Systems,Man and Cybernetics-Part A:Systems and Humans,1999,29(2):184-193.