动态虚拟和机器人对感知的安全等待时间和机械手最大工作半径影响

动态虚拟和机器人对感知的安全等待时间和机械手最大工作半径影响(中文8000字,英文7400字)
本研究探讨了在虚拟和现实工业环境中动态物体和机器人的感知。本研究仿效上世纪90年代初Karwowski和Rahimi的研究。通过运用虚拟现实技术，可在虚拟世界中模拟现实工作场所以便于设备设计的改进。相关于如机器人的大小、速度和类型及遭受虚拟事故的参数影响，我们测量感知的危害和风险、安全等待时间和机械手最大工作半径。分析包括如有顺序的试验方法以比较虚拟和现实环境中的结果。这些方法可被看作是其它领域研究感知和传输的模型。在虚拟和现实环境中，分析数据的比较有助于进一步确定从虚拟现实到现实的性能和感知的可转换性。结果表明：感知的安全等待时间是相似的，但在虚拟和现实环境中之间机械手的感知的最大工作半径存在着很大的差异。我们使用序贯试验中整合数据的初步结果，讨论了工业中使用虚拟设施布局的潜在指导。
关键词：人机交互，感知危害和风险；机械手最大工作半径；序贯试验；数据桥接
 
Impact of dynamic virtual and real robots on perceived safe waiting time and maximum reach of robot arms
  This research examines perception of dynamic objects and robots in a virtual and real industrial work environment. The studies are modelled after those of Karwowski and Rahimi from the early 1990s. By applying virtual reality technology, the real workplace can be simulated in the virtual world for theimprovement of facility design. Perception of hazard and risk, safe waiting time, maximum reach of robot arm are measured related to the impact of parameters such as robot size, speed and type and exposure to a virtual accident. Analysis includes techniques such as sequential experiments to compare results in the virtual and real environments. These methods may be considered as a model for studying perception and transfer in other domains. The comparison of the analysed data in the virtual and real environments helps to further determinethe transferability of performance and perception from virtual reality to real. Results show similarity in perceived safe waiting time, but there are large differences in perceived maximum reach of robot arms between the virtual and real environments. Using the preliminary results from the integrated data in the sequential experiments, potential guidelines for using virtual facility layout in industry are discussed.
  Keywords: human–robot interaction; perception of hazard and risk; maximum reach of robot arms;  sequential experiment; data bridging