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Alternative TitleResearch on obstacle detection and collision avoidance of collaborative robot
Thesis Advisor贾凯
Keyword人机协作 骨骼跟踪 高斯混合模型 分层预测框架 反应式运动规划
Degree Discipline控制理论与控制工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractThis paper firstly summarizes the development status and research background of man-machine collaboration, and expounds the main content of its research and current research hotspots. Then, in the second chapter, the man-machine cooperative simulation platform is introduced, and the related theories are studied. On the basis of the previous two parts, this paper has carried out specific work on different issues, with details as follows: (1) Considering the actual working scene, the depth information was obtained by using the depth camera and point cloud processing, so as to determine the position of each human node and track it in real time. Finally, the human model was built in the simulation environment to synchronize with the real time movement of the human body in the real environment, which provided a good foundation for trajectory prediction. (2) Aiming at the shortcomings of the traditional method, which can judge the trend of movement, but only to forecast the end of the arm, and for the elbow and so on can't good prediction results are given at the same time, especially the trajectory anomalies, more can't give good judgment, so the above method has much limitation, based on these considerations, this article is based on Linux system and robot operating system built collaborative robot simulation platform ROS, accurately capture the arm trajectory of each joint, meanwhile, a minimum-jerk method for predicting abnormal behavior and a hierarchical trajectory prediction framework for predicting multiple joint motions were proposed, it solves the limitation of the above algorithm, improves the adaptability and robustness of the system, and has practical significance. (3) RRT-Connect, a sample-based motion planning method, was used to optimize the motion planning from the perspective of safety and efficiency, and real-time reactive motion planning was realized. Firstly, the robot moves according to the predetermined planned trajectory. Assuming that new changes are detected during the robot's movement, the following decisions need to be made and the path needs to be re-planned to meet the requirements of safety, reliability and efficiency. In the case of environmental changes, if a collision is expected on the planning path being executed, the planner immediately starts replanning and executes it once another collision-free path is obtained. During the path replanning process, the robot will continue to move unless it approaches an obstacle within a specified safe distance. The path is executed by slowing down when approaching an obstacle and stopping completely at a safe distance; During the replanning process, the expected obstacles may disappear. In this case, the replanning is cancelled and the robot continues to execute the original path without stopping. Finally, the simulation results show that the proposed method can effectively shorten the motion planning time and improve the system reliability.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
康杰. 协作机器人的障碍物检测与避碰方法研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2019.
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协作机器人的障碍物检测与避碰方法研究.p(2812KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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