Co-worker Robot PaDY Escorts Worker: Determination of Appropriate Delivery Position

Hisaka Wada, Jun Kinugawa, Kazuhiro Kosuge

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ284-290
ページ数7
ISBN(電子版)9781728150734
DOI
出版ステータスPublished - 2019 9
イベント2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019 - Munich, Germany
継続期間: 2019 9 182019 9 20

出版物シリーズ

名前2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019

Conference

Conference2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
CountryGermany
CityMunich
Period19/9/1819/9/20

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Sensory Systems
  • Artificial Intelligence
  • Human-Computer Interaction

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