Spatially aware in implicit human robot interaction

Implicit interaction pattern between the human user and the robot is important for reducing cognitive burden and enhancing cooperation effect. Given that the spatially aware is a foundation for human-robot cooperation, for the existing researches of robots, in this paper, a reachable space for a serial robot arm with a fixed monocular vision system and five degrees of freedom (5-DoF) was built. Based on the link frame with D-H notation, analysis and simulating experiments were carried on to show the reachable space in three dimensions. In addition, multi ultrasonic sensors are used to detect the space realizing proximity controlled.

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