Robot-Assisted Disassembly Sequence Planning With Real-Time Human Motion Prediction
Robot-Assisted Disassembly Sequence Planning With Real-Time Human Motion Prediction
复制标题
DOI：
10.1109/tsmc.2022.3185889
复制
发表时间：
2023-01
期刊：
影响因子：
--
通讯作者：
Meng-Lun Lee;Wansong Liu;S. Behdad;Xiao Liang;Minghui Zheng
中科院分区：
文献类型：
--
作者：
Meng-Lun Lee;Wansong Liu;S. Behdad;Xiao Liang;Minghui Zheng
提出了一种考虑人机协作和人类行为预测的拆卸任务规划算法。与装配过程不同，报废（EOL）产品的拆卸是一个劳动密集型过程，难以科普不确定性。同时，它通常是具有挑战性的，以获得一个最佳的序列有效地没有过多的计算成本。此外，传统的以人为中心的任务规划，其中的机器人必须停止频繁，由于不安全的中断，由人类的运动，可能会降低拆卸过程的效率。在这篇文章中，提出了一个顺序规划分配任务在真实的时间之间的人类操作员和机器人，以克服上述挑战。成本函数包括人类和机器人在移动距离和花费在任务上的时间方面的努力。约束包括拆卸规则和人的操作安全性。最优序列是通过滚动时域法求解优化问题而产生的。特别是，在每一步，建议的拆卸序列规划器定位工人（一个人操作员和机器人）和被拆卸的部件，预测未来几个步骤的人的运动，并获得最佳拆卸顺序为未来几个步骤的拆卸规则和安全约束。实验已经进行了广泛的拆卸木制玩具盒和使用硬盘驱动器（HDD），以验证所提出的拆卸序列规划。该规划器已成功地生成的拆卸序列中的HRC设置明确考虑实时人体运动预测和分配的人类操作员和机器人协作完成拆卸任务，而不违反拆卸规则和安全约束。
This article presents a disassembly task planning algorithm considering human–robot collaboration (HRC) and human behavior prediction (HBP). Unlike assembly procedures, the disassembly of end-of-life (EOL) products has been a labor-intensive process with uncertainties difficult to cope with. Meanwhile, it is usually challenging to obtain an optimal sequence efficiently without excessive computational cost. Also, the conventional human-centered task planning, in which the robot has to halt frequently due to unsafe interruptions by human motions, may decrease the efficiency of the disassembly process. In this article, a sequence planner is proposed to assign tasks in real time between a human operator and a robot to overcome the aforementioned challenges. The cost function includes the effort of the human and the robot in terms of both movement distance and time spent on the tasks. The constraints include the disassembly rules and the safety of the human operation. The optimal sequence is generated by solving an optimization problem in a receding-horizon way. In particular, at each step, the proposed disassembly sequence planner locates the workers (a human operator and a robot) and the to-be-disassembled components, predicts human movement for the next several steps, and obtains the optimal disassembly sequence for the next several steps following disassembly rules and safety constraints. Experiments have been extensively conducted on the disassembly of a wooden toybox and a used hard disk drive (HDD) to validate the proposed disassembly sequence planner. The planner has successfully generated the disassembly sequence in an HRC setting explicitly considering real-time human motion prediction and assigned the human operator and the robot to collaboratively complete disassembly tasks without violating disassembly rules and safety constraints.