A method for analyzing human assembly operations for use in automatically generating robot commands

Abstract

A method for describing human movements in symbolic manner converts a human worker's movements into sets of parameters (state, movement, rotation). These parameter sets are used to program a robot to perform several tasks. Dextrous movements (extra movements the worker uses to complete a specific task properly) are derived as the difference between the parameter set for the task and the set of parameters common to similar tasks. Experimental results demonstrate the usefulness of this method, and show that some dextrous movements can be automatically generated from human movements.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>