Motion planning with worker's trajectory prediction for assembly task partner robot

Yasufumi Tanaka, Jun Kinugawa, Yusuke Sugahara, Kazuhiro Kosuge

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

20 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages1525-1532
Number of pages8
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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