In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that takes into account the obstacles present in a virtual reality (VR) environment. The work is developed using the MoveIt software in ROS to control an industrial robot UR5. Thanks to this, we will be able to set up the planning group, which is realized by the UR5 robot with a 6-sided prop and the base of the manipulator, in order to plan feasible trajectories that it will be able to execute in the environment. The latter is based on the interior of a vehicle, containing a person (which would be the user in this case) for which the configuration will also be made to be taken into account in the system. To do this, we first investigated the software's capabilities and options for path planning, as well as the different ways to execute the movements. We also compared the different trajectory planning algorithms that the software is capable of using in order to determine which one is best suited for the task. Finally, we proposed different mobility schemes to be executed by the robot depending on the situation it is facing. The first one is used when the robot has to plan trajectories in a safe space, where the only obstacle to avoid is the user's workspace. The second one is used when the robot has to interact with the user, where a dummy model represents the user's position as a function of time, which is the one to be avoided.
翻译:在人-机器人互动系统中,最重要的考虑事项是用户的安全。 这必须得到保障, 以便实施可靠的系统。 本文的主要目的是生成一个安全运动计划, 以考虑到虚拟现实环境中存在的障碍。 这项工作是使用ROS中的 MoveIt软件开发的, 以控制一个工业机器人 UR5 。 由此, 我们将能够建立规划组, 由拥有六面道道和操控器基础的 UR5 机器人实现, 以便规划在环境中可以执行的可行轨迹。 后者基于车辆的内部, 包含一个人( 在此情况下, 用户是用户), 并且配置也将在系统中得到考虑。 为了做到这一点, 我们首先调查软件的能力和路径规划选项, 以及执行移动的不同方式。 我们还比较了软件能够使用的不同的轨迹规划算法, 以便确定哪个轨道位置最适合在环境中执行操作。 最后, 用户在使用一个空间计划时, 不同的计划是使用机器人, 不同的计划是使用一个空间计划, 不同的计划是使用一个位置, 。 当机器人使用一个位置时, 我们建议使用不同的操作一个空间计划, 。 不同的计划是使用一个轨道, 当机器人使用一个操作时, 不同的计划是使用一个轨道, 不同的操作是使用一个轨道, 。 当一个操作时, 当一个操作一个操作时, 我们使用一个操作一个轨道, 使用一个轨道, 使用一个操作一个空间计划是使用一个轨道, 使用一个轨道, 使用一个操作一个轨道, 使用一个操作一个操作一个操作一个操作一个轨道, 使用一个操作一个操作一个操作一个轨道, 。