Visual Servoing Path Tracking for Safe Human-Robot Interaction

被引：0

作者：

Garcia, G. J. ^{[1
]}

Corrales, J. A. ^{[1
]}

Pomares, J. ^{[1
]}

Candelas, F. A. ^{[1
]}

Torres, F. ^{[1
]}

机构：

[1] Univ Alicante, Phys Syst Engn & Signal Theory Dept, E-03080 Alicante, Spain

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, VOLS 1 AND 2 | 2009年

关键词：

visual servoing; human tracking; image path tracking; motion capture; human-robot interaction; FUSION;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

When a human is introduced into a robotic cell, the robot controller must be aware of the human location in order to assure her/his physical integrity. This paper presents a pre-collision strategy which maintains a safety distance between a robot and a human who wears a tracking system composed of a motion capture suit and a UWB localization system. The system proposed is able to guide the robot using visual servoing through a previously defined path. The time-independent behaviour of this system enables the robot to completely track the desired trajectory, even in those cases when the robot goes away from the human during the tracking to guarantee her/his safety.

引用

页码：661 / 666

页数：6

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