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Task Location for High Performance Human-Robot Collaboration

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Abstract

In this paper, an approach for the evaluation of human-robot collaboration towards high performance is introduced and implemented. The human arm and the manipulator are modelled as a closed kinematic chain and the proposed task performance criterion is used based on the manipulability index of this chain. The selected task is a straight motion in which the robot end-effector is guided by the human operator via an admittance controller. The best location of the selected task is determined by the maximization of the minimal manipulability along the path. Evaluation criteria for the performance are adopted considering the ergonomics literature. In the experimental set-up with a KUKA LWR manipulator, multiple subjects repeat the specified motion to evaluate the introduced approach experimentally.

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Acknowledgements

The authors would like to thank the volunteers for participating in the experiments. Abdel-Nasser Sharkawy is funded by the “Egyptian Cultural Affairs & Missions Sector” and “Hellenic Ministry of Foreign Affairs Scholarship” for Ph.D. study in Greece.

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Author notes

  1. Abdel-Nasser Sharkawy, Charalampos Papakonstantinou, Vassilis Papakostopoulos, Vassilis C. Moulianitis and Nikos Aspragathos contributed equally to this work.

Authors and Affiliations

  1. Mechanical Engineering Department, Faculty of Engineering, South Valley University, Qena, 83523, Egypt

    Abdel-Nasser Sharkawy

  2. Department of Mechanical Engineering and Aeronautics, University of Patras, 26504, Rio, Greece

    Abdel-Nasser Sharkawy, Charalampos Papakonstantinou & Nikos Aspragathos

  3. Department of Product and Systems Design Engineering, University of the Aegean, 84100, Syros, Greece

    Vassilis Papakostopoulos & Vassilis C. Moulianitis

Authors
  1. Abdel-Nasser Sharkawy
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  2. Charalampos Papakonstantinou
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  3. Vassilis Papakostopoulos
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  4. Vassilis C. Moulianitis
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  5. Nikos Aspragathos
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Correspondence to Abdel-Nasser Sharkawy.

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Sharkawy, AN., Papakonstantinou, C., Papakostopoulos, V. et al. Task Location for High Performance Human-Robot Collaboration. J Intell Robot Syst 100, 183–202 (2020). https://doi.org/10.1007/s10846-020-01181-5

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  • DOI: https://doi.org/10.1007/s10846-020-01181-5

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