Trust-Based Modular Cyber–Physical–Human Robotic System for Collaborative Manufacturing: Modulating Communications

摘要

The objective was to propose a human–robot bidirectional trust-triggered cyber–physical–human (CPH) system framework for human–robot collaborative assembly in flexible manufacturing and investigate the impact of modulating communications in the CPH system on system performance and human–robot interactions (HRIs). As the research method, we developed a one human–one robot hybrid cell where a human and a robot collaborated with each other to perform the assembly operation of different manufacturing components in a flexible manufacturing setup. We configured the human–robot collaborative system in three interconnected components of a CPH system: (i) cyber system, (ii) physical system, and (iii) human system. We divided the functions of the CPH system into three interconnected modules: (i) communication, (ii) computing or computation, and (iii) control. We derived a model to compute the human and robot’s bidirectional trust in each other in real time. We implemented the trust-triggered CPH framework on the human–robot collaborative assembly setup and modulated the communication methods among the cyber, physical, and human components of the CPH system in different innovative ways in three separate experiments. The research results show that modulating the communication methods triggered by bidirectional trust impacts on the effectiveness of the CPH system in terms of human–robot interactions, and task performance (efficiency and quality) differently. The results show that communication methods with an appropriate combination of a higher number of communication modes (cues) produces better HRIs and task performance. Based on a comparative study, it was concluded that the results prove the efficacy and superiority of configuring the HRC system in the form of a modular CPH system over using conventional HRC systems in terms of HRI and task performance. Configuring human–robot collaborative systems in the form of a CPH system can transform the design, development, analysis, and control of the systems and enhance their scope, ease, and effectiveness for various applications, such as industrial manufacturing, construction, transport and logistics, forestry, etc.