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

Yasufumi Tanaka; Jun Kinugawa; Yusuke Sugahara; Kazuhiro Kosuge

doi:10.1109/IROS.2012.6386043

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

Yasufumi Tanaka, Jun Kinugawa, Yusuke Sugahara, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages	1525-1532
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2012.6386043
Publication status	Published - 2012 Dec 1
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: 2012 Oct 7 → 2012 Oct 12

Publication series

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

Other

Other	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country	Portugal
City	Vilamoura, Algarve
Period	12/10/7 → 12/10/12

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2012.6386043

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Motion planning with worker's trajectory prediction for assembly task partner robot. / Tanaka, Yasufumi; Kinugawa, Jun; Sugahara, Yusuke; Kosuge, Kazuhiro.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 1525-1532 6386043 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tanaka, Y, Kinugawa, J, Sugahara, Y & Kosuge, K 2012, Motion planning with worker's trajectory prediction for assembly task partner robot. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6386043, IEEE International Conference on Intelligent Robots and Systems, pp. 1525-1532, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 12/10/7. https://doi.org/10.1109/IROS.2012.6386043

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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.",

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