Which way is the best? Evaluation and optimization of dual-arm robot path planning for human-robot collaborative tasks in smart manufacturing contexts

Weitian Wang, Yi Chen, Yunyi Jia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

In human-robot collaborative tasks, the performance of robot path planning has a direct impact on the robot-to-human hand-over process, or even the collaboration quality. In this work, we propose an evaluation study on multiple robot path planners with different metrics and reveal their pros and cons in representative human-robot collaborative manufacturing contexts. Afterwards, based on the proposed metrics, we define a cost function for the dual-arm robot to choose optimized path planning solutions with maximum efficiency for its human partner in human-robot collaboration. We implement the proposed evaluation and optimization approaches to multiple realistic human-robot collaborative manufacturing contexts. Experimental results and evaluations suggest that our approaches are able to provide positive solutions for the robot path planner selection and also open a window for exploring more complicated and general robot path planning applications to human-robot collaborative tasks in smart manufacturing contexts.

Original languageEnglish
Title of host publicationAdvanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859148
DOIs
StatePublished - 2019
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: 8 Oct 201911 Oct 2019

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Volume1

Conference

ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Country/TerritoryUnited States
CityPark City
Period8/10/1911/10/19

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