Research On Human-robot Safety Cooperation Strategy Based On Human Motion Prediction

Although traditional industrial robots have improved industrial production efficiency to some extent,in the processing of some special environments and complex tasks,robots cannot completely replace human work,and the development direction of human-robot integration has become a research hotspot.Ensuring human safety is the core of human-robot integration.In this paper,Kinect sensors are used to monitor the robot workspace in real time and collect the target human body position and movement information appearing in the workspace.The D-H parameter method is used to construct the kinematics of a six-degreeof-freedom robotic arm.Model,calculates its position information in real time,predicts the motion trajectory in the future based on Gaussian mixture regression model,and proposes a potential collision index describing the probability of possible collision,and a human-robot safety based on the potential collision index Collaboration strategy.The main research contents are as follows:First,based on the D-H parameter method,robot kinematics modeling and Kinect sensor human motion information collection.The D-H parameter method is used to model the kinematics of the robot,and the pose information of the robot in Cartesian space is obtained through the positive kinematics solution.The Kinect sensor is used to collect the threedimensional position information and motion state information of the human skeleton,and the collected human data is optimized by the Kalman filter algorithm.Secondly,human motion trajectory prediction and human-robot collision detection are based on Gaussian mixture regression model.Gaussian mixture model is used to model the human motion trajectory,and Gaussian mixture regression model is used to predict the human motion trajectory.Constraints on the length of the human bone are added to the prediction,and the positions of the human body and the robot in space are unified by coordinate transformation.In the same world coordinate system,humans and robots are modeled through capsule bounding boxes,and the minimum distance between human and machine is iterated and collision detection is performed.Thirdly,the human-robot safety cooperation strategy is designed based on the potential collision index.Integrate human and robot motion information and human-robot minimum distance information to calculate a potential collision index,design a human-robot safety cooperation strategy based on the potential collision index,improve the potential function of the artificial potential field method,and plan avoidance based on the improved artificial potential field method.Touch the safe path and simulate it in Matlab 2016.Finally,experiments on human-robot integration security cooperation strategy.Combining Kinect sensors with a six-degree-of-freedom robotic manipulator to build an experimental platform,using Visual C ++ to write a data acquisition program and python to write a robot safety cooperation control script program,conduct human-robot safety cooperation experiments in a collaborative space.The safety cooperation strategy is feasible and effective,ensuring human safety in the process of human-robot collaboration.