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Collaborative behavior design of industrial robots for multiple human-robot collaboration | IEEE Conference Publication | IEEE Xplore

Collaborative behavior design of industrial robots for multiple human-robot collaboration


Abstract:

Industrial robots are being introduced to assist human workers in performing assembly tasks such as small-parts assembly. A mixed environment is the best choice for certa...Show More

Abstract:

Industrial robots are being introduced to assist human workers in performing assembly tasks such as small-parts assembly. A mixed environment is the best choice for certain assembly operations, of which some are better executed by robots and others are better handled by human workers. However, it is a challenge to design the collaborative behavior of robots to maximize productivity respecting to safety constraints while interacting with human workers. This becomes more complex for multiple human-robot collaboration. An approach has been proposed for structuring the collaborative behavior using finite state automata (FSA). In this paper, the approach is extended to deal with multiple human-robot collaboration, by applying the composition rules of FSA. The approach is finally demonstrated in an ABB Dual-Arm Concept Robot working with multiple human workers in an industrial assembly scenario.
Published in: IEEE ISR 2013
Date of Conference: 24-26 October 2013
Date Added to IEEE Xplore: 02 January 2014
Electronic ISBN:978-1-4799-1173-8
Conference Location: Seoul, Korea (South)

References

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