Motion planning with worker's trajectory prediction for assembly task partner robot
Motion planning with worker's trajectory prediction for assembly task partner robot
复制标题
装配任务伙伴机器人的运动规划和工人轨迹预测
DOI：
--
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
K. Kosuge
中科院分区：
文献类型：
--
作者：
Yasufumi Tanaka;J. Kinugawa;Y. Sugahara;K. Kosuge
我们开发了一种新型的装配任务伙伴机器人来支持工人的任务。这个系统，PADY(即时零件/工具递送到你的机器人)，通过识别工人在汽车生产线上的行为将零件和工具交付给工人；因此，通过减少工人挑选零件和工具的物理工作量来提高工作效率。为此，在工人移动到另一个装配任务的下一个位置之前，有必要规划机器人的轨迹。首先提出了一种基于马尔可夫模型的工人轨迹预测方法，将工作空间离散为单元，然后利用预测的工人轨迹和汽车坐标系中每个工序对应的每个区域的混合高斯分布，提出了运动规划方法。实验结果验证了该运动规划方法的有效性。
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.