Motion control of self-moving trays for human supporting production cell "attentive workbench"

Masao Sugi, Makoto Nikaido, Yusuke Tamura, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Seiichi Shin, Hiromasa Suzuki, Yoichi Sato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

We propose "Attentive Workbench (AWB)," a new cell production system in which an intelligent system supports human workers. Using cameras, projectors, planar motor driven self-moving trays and other devices, the system supports workers from both physical and information aspects, recognizing worker's condition and intention. This paper outlines AWB and deals with physical assembly support using self-moving parts trays. Two different schemes, centralized and decentralized, for controlling multiple parts trays are evaluated through experiments and simulations. The centralized control scheme is found to have the higher performance than the decentralized control scheme.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages4080-4085
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Keywords

  • Assembly support
  • Attentive workbench (AWB)
  • Cell production systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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