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Real-Time Motion Tracking for Humans and Robots in a Collaborative Assembly Task

Department of Mechanical Engineering, Chair for Production Automation and Assembly, University of Siegen, 57068 Siegen, Germany
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Presented at the 6th International Electronic Conference on Sensors and Applications, 15–30 November 2019; Available online: https://ecsa-6.sciforum.net/.
Proceedings 2020, 42(1), 48; https://doi.org/10.3390/ecsa-6-06636
Published: 14 November 2019
Human-robot collaboration combines the extended capabilities of humans and robots to create a more inclusive and human-centered production system in the future. However, human safety is the primary concern for manufacturing industries. Therefore, real-time motion tracking is necessary to identify if the human worker body parts enter the restricted working space solely dedicated to the robot. Tracking these motions using decentralized and different tracking systems requires a generic model controller and consistent motion exchanging formats. In this work, our task is to investigate a concept for a unified real-time motion tracking for human-robot collaboration. In this regard, a low cost and game-based motion tracking system, e.g., HTC Vive, is utilized to capture human motion by mapping into a digital human model in the Unity3D environment. In this context, the human model is described using a biomechanical model that comprises joint segments defined by position and orientation. Concerning robot motion tracking, a unified robot description format is used to describe the kinematic trees. Finally, a concept of assembly operation that involves snap joining is simulated to analyze the performance of the system in real-time capability. The distribution of joint variables in spatial-space and time-space is analyzed. The results suggest that real-time tracking in human-robot collaborative assembly environments can be considered to maximize the safety of the human worker. However, the accuracy and reliability of the system regarding system disturbances need to be justified.
Keywords: robot; human; motion tracking; collaboration; HRC robot; human; motion tracking; collaboration; HRC
MDPI and ACS Style

Tuli, T.B.; Manns, M. Real-Time Motion Tracking for Humans and Robots in a Collaborative Assembly Task. Proceedings 2020, 42, 48. https://doi.org/10.3390/ecsa-6-06636

AMA Style

Tuli TB, Manns M. Real-Time Motion Tracking for Humans and Robots in a Collaborative Assembly Task. Proceedings. 2020; 42(1):48. https://doi.org/10.3390/ecsa-6-06636

Chicago/Turabian Style

Tuli, Tadele Belay; Manns, Martin. 2020. "Real-Time Motion Tracking for Humans and Robots in a Collaborative Assembly Task" Proceedings 42, no. 1: 48. https://doi.org/10.3390/ecsa-6-06636

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