TY - GEN
T1 - Which way is the best?
T2 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
AU - Wang, Weitian
AU - Chen, Yi
AU - Jia, Yunyi
N1 - Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85076397513&partnerID=8YFLogxK
U2 - 10.1115/DSCC2019-9143
DO - 10.1115/DSCC2019-9143
M3 - Conference contribution
AN - SCOPUS:85076397513
T3 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
BT - Advanced 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
PB - American Society of Mechanical Engineers (ASME)
Y2 - 8 October 2019 through 11 October 2019
ER -