Flexible Programming Tool Enabling Synergy between Human and Robot

This paper discusses a method for flexible robot programming and execution control, through the enablement of human-robot collaborative tasks. This method considers data that are initially generated, in an offline programming tool and are corrected online by considering feedback from force and vision sensors. A number of tasks are dynamically assigned to both human and robot resources. The user tests the programming result via an external control system. The initially assigned tasks can be re-assigned online. The method has been implemented, at the top of ROS, as an android application and has been applied to automotive and aeronautics industries for the execution of screwing and insert operations.