TY - GEN
T1 - Motion planning with worker's trajectory prediction for assembly task partner robot
AU - Tanaka, Yasufumi
AU - Kinugawa, Jun
AU - Sugahara, Yusuke
AU - Kosuge, Kazuhiro
PY - 2012/12/1
Y1 - 2012/12/1
N2 - We have developed a novel assembly task partner robot to support workers in their task. This system, PaDY (in-time Parts/tools Delivery to You robot), delivers parts and tools to a worker by recognizing the worker's behavior in the car production line; thus, improving the efficiency of the work by reducing the worker's physical workload for picking parts and tools. For this purpose, it is necessary to plan the trajectory of the robot before the worker moves to the next location for another assembling task. First a prediction method for the worker's trajectory using a Markov model for a discretized work space into cells is proposed, then motion planning method is proposed using the predicted worker's trajectory and a mixture Gaussian distribution for each area corresponding to each procedure of the work process in the automobile coordinate system. Experimental results illustrate the validity of the proposed motion planning method.
AB - We have developed a novel assembly task partner robot to support workers in their task. This system, PaDY (in-time Parts/tools Delivery to You robot), delivers parts and tools to a worker by recognizing the worker's behavior in the car production line; thus, improving the efficiency of the work by reducing the worker's physical workload for picking parts and tools. For this purpose, it is necessary to plan the trajectory of the robot before the worker moves to the next location for another assembling task. First a prediction method for the worker's trajectory using a Markov model for a discretized work space into cells is proposed, then motion planning method is proposed using the predicted worker's trajectory and a mixture Gaussian distribution for each area corresponding to each procedure of the work process in the automobile coordinate system. Experimental results illustrate the validity of the proposed motion planning method.
UR - http://www.scopus.com/inward/record.url?scp=84872337915&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872337915&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6386043
DO - 10.1109/IROS.2012.6386043
M3 - Conference contribution
AN - SCOPUS:84872337915
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1525
EP - 1532
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -