Mutual trust-based subtask allocation for human–robot collaboration in flexible lightweight assembly in manufacturing

Rahman, S. M. Mizanoor; Wang, Yue

doi:10.1016/j.mechatronics.2018.07.007

Cited by 90 publications

(42 citation statements)

References 18 publications

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“…Fully automated disassembly could deal with large volumes but is inflexible and would incur high capital costs. 33 However, due to variability in the returned EoL products and in the disassembly process, a higher degree of flexibility is needed of the disassembly system. 34 The main factors that hinder the industrial adoption of disassembly automation are lack of flexibility and high capital cost.…”

Section: Collaborative Disassemblymentioning

confidence: 99%

A case study in human–robot collaboration in the disassembly of press-fitted components

Huang

Pham

Wang

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part B:

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Human–robot collaborative disassembly is an approach designed to mitigate the effects of uncertainties associated with the condition of end-of-life products returned for remanufacturing. This flexible semi-autonomous approach can also handle unpredictability in the frequency and numbers of such returns as well as variance in the remanufacturing process. This article focusses on disassembly, which is the first and arguably the most critical step in remanufacturing. The article presents a new method for disassembling press-fitted components using human–robot collaboration based on the active compliance provided by a collaborative robot. The article first introduces the concepts of human–robot collaborative disassembly and outlines the method of active compliance control. It then details a case study designed to demonstrate the proposed method. The study involved the disassembly of an automotive water pump by a collaborative industrial robot working with a human operator to take apart components that had been press-fitted together. The results show the feasibility of the proposed method.

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Section: Collaborative Disassemblymentioning

confidence: 99%

A case study in human–robot collaboration in the disassembly of press-fitted components

Huang

Pham

Wang

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part B:

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“…Considering collision avoidance, a method is developed that could detect external forces and react quickly. That is, placing a torque sensor in the drivetrain, which could estimate the direction, position, magnitude of forces of mobile robots, then using admittance controller to react to the collision forces [16]. Another strategy for rapid detection is combining Extreme Learning Machine (ELM) face recognition with Microsoft Kinect sensors, which has been implemented on a four-wheeled mobile robot and has achieved a good performance in terms of speed and accuracy [17].…”

Section: ) Environment and Object Perceptionmentioning

confidence: 99%

Collaborative mobile industrial manipulator: A review of system architecture and applications

Yang

Zante

et al. 2019

2019 25th International Conference on Automation and Computing (ICAC)

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This paper provides a comprehensive review of the development of Collaborative Mobile Industrial Manipulator (CMIM), which is currently in high demand. Such a review is necessary to have an overall understanding about CMIM advanced technology. This is the first review to combine the system architecture and application which is necessary in order to gain a full understanding of the system. The classical framework of CMIM is firstly discussed, including hardware and software. Subsystems that are typically involved in hardware such as mobile platform, manipulator, end-effector and sensors are presented. With regards to software, planner, controller, perception, interaction and so on are also described. Following this, the common applications (logistics, manufacturing and assembly) in industry are surveyed. Finally, the trends are predicted and issues are indicated as references for CMIM researchers. Specifically, more research is needed in the areas of interaction, fully autonomous control, coordination and standards. Besides, experiments in real environment would be performed more and novel collaborative robotic systems would be proposed in future. Additionally, some advanced technology in other areas would also be applied into the system. In all, the system would become more intelligent, collaborative and autonomous.

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“…In a skill-based task assignment approach proposed in [28], with the assembly task description model, the skills of human and robots are compared according to the requirements. An integrated (feed-forward & feedback) optimum subtask allocation scheme is proposed in [36] for the assembly triggered by two-way trust (human's trust in robot and robot's trust in human). A set of ergonomics, quality, and productivity criteria is designed to choose the most suitable plans.…”

Section: Task Planning and Assignmentmentioning

confidence: 99%

Anthropocentric Approach for Smart Assembly: Integration and Collaboration

Tan

Tong

et al. 2019

Journal of Robotics

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Recently, anthropocentric or human-centric approaches renewed its importance in smart manufacturing especially for assembly applications where human dexterity and informal knowledge are dispensable at present and in the near future. This paper analyzes the integration, design, and collaboration issues regarding anthropocentric researches in the past few years mainly in assembly domain. First of all, towards closed-loop system integration, the researches on integrating human in the cyber-physical system are elaborated and summarized. Then, human-centric designs (HCD) especially in shop-floor assembly field are analyzed. To emphasize human-robot hybrid assembly, several related issues including collaboration paradigm, task planning and assignment, interaction interfaces, and safety are discussed. At last, a survey on human cognitive and social limitation management is elaborated. Related research challenges and directions are discussed.

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Mutual trust-based subtask allocation for human–robot collaboration in flexible lightweight assembly in manufacturing

Cited by 90 publications

References 18 publications

A case study in human–robot collaboration in the disassembly of press-fitted components

A case study in human–robot collaboration in the disassembly of press-fitted components

Collaborative mobile industrial manipulator: A review of system architecture and applications

Anthropocentric Approach for Smart Assembly: Integration and Collaboration

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