کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10672902 1010181 2016 4 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A probabilistic approach to workspace sharing for human-robot cooperation in assembly tasks
ترجمه فارسی عنوان
یک رویکرد احتمالی برای به اشتراک گذاری فضای کاری برای همکاری روباتهای انسان در کارهای مونتاژ
کلمات کلیدی
حرکت برنامه ریزی، همکاری روبات انسان ها،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
چکیده انگلیسی
Recently, human-robot cooperation (HRC) research activities have focused on the development of new methodologies for the generation of safe robot trajectories. However, the applicability of such methodologies in a real context is limited due to the inherent uncertainty of robot trajectory execution time (i.e. the robot can avoid the worker by modifying its velocity along the path). This paper proposes an approach to estimate a confidence interval on robot trajectory execution time for scenarios in which human-robot space sharing is required. First, human arm movements are studied for a given set of assembly collaborative tasks: worker occupancy volumes and occupancy volume probabilities are derived. Then, a finite number of alternative robot trajectories, crossing human occupancy volumes with different occupancy probabilities, are generated. It is therefore possible to estimate a probability for the robot to reduce its velocity, and a confidence interval on the robot execution time. The application on a real assembly case is discussed.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: CIRP Annals - Volume 65, Issue 1, 2016, Pages 57-60
نویسندگان
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