Cobot programming for collaborative industrial tasks: An overview
Cobot programming for collaborative industrial tasks: An overview
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DOI：
10.1016/j.robot.2019.03.003
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发表时间：
2019-06-01
影响因子：
4.3
通讯作者：
Usman, Zahid
中科院分区：
文献类型：
--
作者：
El Zaatari, Shirine;Marei, Mohamed;Usman, Zahid
协作机器人（cobots）已越来越多地应用于工业中，以促进人机协作。尽管如此，对协作机器人进行协作工业任务的编程是具有挑战性的，因为编程有两个难以实现的不同元素：(1)确保协作机器人的操作可以由操作员动态组成或更改的直观元素，以及(2)支持协作机器人产生依赖于人类伙伴的灵活和自适应行为的人类感知元素。在这方面，近年来已经开展了一些研究工作，但缺乏系统的总结。本文概述了协作工业场景和协作机器人实现有效协作的编程要求。然后，对协作机器人编程进行了详细的回顾，将其分为沟通、优化和学习。此外，在工业和研究中实施的协作机器人编程之间存在显着差距，并确定了致力于弥合这一差距的研究。最后，概述了工业协作场景下协作机器人的未来发展方向，包括潜在的扩展和改进点。(C) 2019 Elsevier B.V.版权所有
Collaborative robots (cobots) have been increasingly adopted in industries to facilitate human-robot collaboration. Despite this, it is challenging to program cobots for collaborative industrial tasks as the programming has two distinct elements that are difficult to implement: (1) an intuitive element to ensure that the operations of a cobot can be composed or altered dynamically by an operator, and (2) a human-aware element to support cobots in producing flexible and adaptive behaviours dependent on human partners. In this area, some research works have been carried out recently, but there is a lack of a systematic summary on the subject. In this paper, an overview of collaborative industrial scenarios and programming requirements for cobots to implement effective collaboration is given. Then, detailed reviews on cobot programming, which are categorised into communication, optimisation, and learning, are conducted. Additionally, a significant gap between cobot programming implemented in industry and in research is identified, and research that works towards bridging this gap is pinpointed. Finally, the future directions of cobots for industrial collaborative scenarios are outlined, including potential points of extension and improvement. (C) 2019 Elsevier B.V. All rights reserved.