Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for real-time responses. We propose a virtual fencing approach that detects and predicts human motion, ensuring safe cobot operation. Safety and performance tradeoffs are modeled as an optimization problem and solved via sequential quadratic programming. Experimental validation shows that our method minimizes operational pauses while maintaining safety, providing a modular solution for human-robot collaboration.

翻译：协作机器人（cobots）日益频繁地与人类协同作业，这对实时鲁棒性安全保障提出了更高要求。现行安全标准（如ISO 10218、ANSI/RIA 15.06、ISO/TS 15066）虽要求进行风险评估，但未为实时响应提供充分指导。本文提出一种虚拟围栏方法，通过检测与预测人体运动来确保协作机器人的安全运行。我们将安全性与性能的权衡建模为一个优化问题，并采用序列二次规划进行求解。实验验证表明，该方法在保障安全性的同时最大限度地减少了运行中断，为人类-机器人协作提供了一种模块化解决方案。