Anthropomorphic motion control for safe and efficient human-robot cooperation in assembly system
Anthropomorphic motion control for safe and efficient human-robot cooperation in assembly system
复制标题
拟人化运动控制，实现装配系统中安全高效的人机协作
DOI：
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复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
C. Schlick
中科院分区：
文献类型：
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作者：
Sinem Kuz;C. Schlick
社会技术系统的概念强调人与机器之间的相互关系。因此，社会技术系统的人机工程学设计的目标是以生产力，效率和人性不会相互矛盾的方式适应人与机器之间的相互作用。因此，人必须被视为系统的一个组成部分。从用户的角度考虑人与机器人之间的交互，必须确保职业安全并提高用户的接受度和熟悉度。在这种情况下，拟人化的概念，即模拟人类的特征，非人类代理人，如机器人，是一个有前途的方法。因此，将在本文中提出的研究集中在工业工作系统中的机器人运动的拟人化的效果。一个虚拟的环境组成的机器人装配单元被用来进行实验。为了模拟拟人的运动，人类的拾取和放置运动测量使用红外运动捕捉系统。利用运动轨迹模拟了6自由度虚拟龙门机器人的运动。拟人和等速剖面进行了比较。参与者的任务是尽可能准确和快速地预测运动的目的地。结果表明，拟人的配置文件导致显着更短的预测时间。此外，较短的预测时间不会导致更多的误差。实践者总结：人类和机器人之间的直接合作提高了制造系统的灵活性。为了充分发挥人机直接合作的潜力，机器人必须被人类接受为合作者。拟人化是一种在不同领域使用的方法，以提高非人类实体作为团队合作伙伴的接受度。因此，这项工作的研究重点是拟人化在工业工作系统的影响。
The concept of socio-technical systems emphasizes the mutual interrelationship between humans and machines. Accordingly, the objective of ergonomic design of socio-technical systems is to adapt the interaction between humans and machines in such a way that productivity, efficiency and humanity would not contradict each other. Hence, the human has to be considered as an integral part of the system. Considering the interaction between human and robot from a user-based point of view, it is essential to ensure the occupational safety and increase user acceptance and familiarity. In this context, the concept of anthropomorphism, i.e. the simulation of human characteristics by non-human agents such as robots, is a promising approach. Therefore the study that will be presented within this paper focuses on the effect of anthropomorphism of robot motion in industrial work systems. A virtual environment consisting of a robotized assembly cell was utilized to conduct the experiments. In order to simulate anthropomorphic movements, human pick and place movements were measured using an infrared motion capture system. The motion trajectories were used to simulate the motion of a virtual gantry robot with 6 degrees of freedom. Anthropomorphic and constant velocity profiles were compared. The task of the participants was to predict the movement’s destination as accurately and quickly as possible. Results show that the anthropomorphic profile leads to a significant shorter prediction time. Moreover, the shorter prediction time does not result in more errors. Practitioner Summary: Direct cooperation between the human and a robot improves the flexibility of manufacturing systems. To use the full potential of direct human-robot cooperation, the robot has to be accepted as a co-worker by the human. Anthropomorphism is an approach that is used in different areas to improve the acceptance of non-human entities as team-partners. Hence, the study within this work focuses on the effects of anthropomorphism in industrial work systems.
利用拟人化改善工业环境中的人机交互（第一部分）
DOI：
10.1007/978-3-642-39182-8_9
发表时间：
2013
期刊：
影响因子：
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作者：
Müller;Schlick
通讯作者：
Schlick
DOI：
10.1007/978-3-642-39182-8_2
发表时间：
2013
期刊：
影响因子：
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作者：
Brecher;Müller
通讯作者：
Müller