关键词：光机电；机器人；传感器；测距仪；范围数据
摘 要：The paper discusses a new method of tracking and controlling robots that interact with humans (natural interaction) to provide assistance services in manufacturing tasks. Using depth sensors the robots are able to assist the human operator and to avoid collisions. Natural interaction is implemented using a depth sensor which monitors the activity outside and inside the robot system workspace. The sensor extracts depth data from the environment and then uses the processing power of a workstation in order to detect both humans and robot arms. This is done by detecting skeletons which represent the position and posture of the humans and manipulators. Using skeleton tracking, a software agent is able to monitor the movements of the human operators and robotic arms and to detect possible collisions in order to stop the robot motion at the right time. Also the agent can interpret the posture (or full body gesture) of the human operator in order to send basic commands to the robot.