TY - GEN
T1 - Co-worker Robot PaDY Escorts Worker
T2 - 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
AU - Wada, Hisaka
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
N1 - Funding Information:
*This work was supported by JSPS KAKENHI Grant Number JP110440.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - We have developed a co-worker robot PaDY that delivers the parts and tools to workers at the appropriate timing by predicting the trajectory and task of a worker in the assembly process of a factory. Conventional PaDY works according to the worker on the premise that the worker understands the next task. If PaDY escorts a beginner worker, efficiency of work time and reduction of work errors can be expected. In addition, since the robot moves in front of the worker and the worker can receive the parts while moving, work efficiency can be improved for the skilled worker too. In order for PaDY to notify the worker of the next task and to escort the worker, it is necessary to always set the delivery position at a position that the worker can easily recognize and reach. Therefore, in this paper, we propose a method of determining the appropriate position for escorting workers while delivering the parts as the first step of the motion planning of escorting PaDY. Arm comfort, Collision, Manipulability, and Visibility were considered to determine the delivery position. In order to evaluate the reachability of worker's arm, a 6-DOF model of the worker's arm was created. In order to consider the worker's visibility, the participants' field of view was measured.
AB - We have developed a co-worker robot PaDY that delivers the parts and tools to workers at the appropriate timing by predicting the trajectory and task of a worker in the assembly process of a factory. Conventional PaDY works according to the worker on the premise that the worker understands the next task. If PaDY escorts a beginner worker, efficiency of work time and reduction of work errors can be expected. In addition, since the robot moves in front of the worker and the worker can receive the parts while moving, work efficiency can be improved for the skilled worker too. In order for PaDY to notify the worker of the next task and to escort the worker, it is necessary to always set the delivery position at a position that the worker can easily recognize and reach. Therefore, in this paper, we propose a method of determining the appropriate position for escorting workers while delivering the parts as the first step of the motion planning of escorting PaDY. Arm comfort, Collision, Manipulability, and Visibility were considered to determine the delivery position. In order to evaluate the reachability of worker's arm, a 6-DOF model of the worker's arm was created. In order to consider the worker's visibility, the participants' field of view was measured.
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U2 - 10.1109/CBS46900.2019.9114445
DO - 10.1109/CBS46900.2019.9114445
M3 - Conference contribution
AN - SCOPUS:85089510377
T3 - 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
SP - 284
EP - 290
BT - 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 18 September 2019 through 20 September 2019
ER -