Collaboration Planning by Task Analysis in Human-Robot Collaborative Manufacturing System
Collaboration Planning by Task Analysis in Human-Robot Collaborative Manufacturing System
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DOI：
10.5772/9543
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发表时间：
2010-04
期刊：
影响因子：
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通讯作者：
J. T. Tan;F. Duan;R. Kato;T. Arai
中科院分区：
文献类型：
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作者：
J. T. Tan;F. Duan;R. Kato;T. Arai
制造要求向高柔性和短生产周期的转变促使人机协作型制造系统的出现。人机协作是人类灵活性和机器效率的完美结合。然而，为了实现这一范式的转变，在制造业的历史，人与机器人之间的相互作用的协同操作的角度进行了充分的研究。在制造业中的人机协作领域已经进行了许多研究（Kosuge等人，1994; Oborski，2004）。建模技术（Rudas & Horvath，1996）提供了一个初始步骤，研究这种合作关系，甚至在系统开发之前。为了确保一个更人性化的解决方案，任务分析是适应在这项研究中的建模方法。本研究的目的是开发一个基于任务分析方法的建模框架，以辅助制造系统中的人机协作规划。这项工作的整个开发在原型单元制造系统中的实际电缆线束组件的建模开发中示出（Duan等人，2008年）。本文的大纲安排如下：第2节提供了在制造中的人机协作的文献综述和原型单元化制造系统设置的概述连同指定的线束装配操作。第三部分介绍了基于任务分析的协同规划方法的发展历程，包括任务分析方法的简要介绍、层次任务分析法的任务分解、协同分析等。第四节讨论了通过建模框架在操作过程设计中的设计增强以及在人的技能分析、安全评估和操作支持方面的进一步扩展。建模设计在原型生产单元中实施，以执行模型验证和操作性能评估，如第5节所示。第六部分对本文的工作进行了总结，并对今后的工作提出了建议。6
The shifting manufacturing requirements to high flexibility and short production cycle have urged the emerging of human-robot collaborative type of manufacturing systems. Humanrobot collaboration is a dream combination of human flexibility and machine efficiency. However, in order to materialize this paradigm shift in manufacturing history, the interaction between human and robot in the perspective of collaborative operation has to be fully investigated. Many studies had been conducted in the area of human-robot collaboration in manufacturing (Kosuge et al., 1994; Oborski, 2004). Modeling techniques (Rudas & Horvath, 1996) provide an initial step to study on this collaboration relationship even before system development. To ensure a more human-centered solution, task analysis is adapted for the modeling approach in this study. The purpose of this work is to develop a modeling framework based on task analysis approach to assist human-robot collaboration planning in manufacturing systems. The entire development of this work is illustrated in a modeling development of an actual cable harness assembly in a prototype cellular manufacturing system (Duan et al., 2008). The outline of the paper is arranged as the following: Section 2 provides the literature reviews on human-robot collaboration in manufacturing and the overview of the prototype cellular manufacturing system setup together with the assigned cable harness assembly operation. Section 3 presents entire development of collaboration planning by task analysis including the brief introduction on task analysis approach, task decomposition by hierarchical task analysis, and collaboration analysis. Section 4 discusses the design enhancements by the modeling framework in operation process design and further extensions in human skill analysis, safety assessment and operation support. The modeling design is implemented in a prototype production cell to perform model validation and operation performance evaluation as illustrated in Section 5. Section 6 concludes the work and states the suggestions for future work. 6