Research On Active Collision Avoidance Of Robot In Man-machine Cooperation

With the extensive application of robots,the contact of robots and human is more andmore inevitable.To ensure security of human while increasing the intelligence ofrobots,carrying out human-machine collaboration technologies and its applied research hasgradually become a hot topic.Traditional research on collision avoidance of robot mainly focuses on static object,thispaper gives a way in the man-machine collaboration scene,aiming at making robot recognizehuman and avoid collision with human..The main work of this paper is as follows:1)Extractthe three-dimensional information of human and robot base on Kinect sensor which has goodinformation acquisition ability, reduce the impact of the data coherence caused by occlusionusing multiple Kinect sensors,construct human characteristics region base on the featurepoints and make simulation of human body model.2)Make prediction of position of humanskeletons base on the Kalman filter,define constraints between human joints using unscentedKalman filter,combined with the physiological characteristics,to improve the dataaccuracy.3)Based on the roadmap idea,this paper solves the problem of robot path planning ina flat space,reduce the computational cost of the robot in the process of real-time collisionavoidance.This paper uses hierarchical collision detection technology to ensure safety ofhuman-machine.4)Base on the decision table idea,this paper designs active collisionavoidance regulations of robots with decision-making of both speed and direction,improvingthe intelligence of robot initiative collision avoidance,reducing unnecessary movement of therobot and ensuring efficiency.Finally, the experiment of the robot collision avoidance isdesigned to make simulation and verification for the above.Experiment results show that theactive collision avoidance method proposed in this paper has validity and rationality.