The effect of anthropomorphic movements of assembly robots on human prediction

摘要

The commissioning and programming of complex robotized handling operations requires extensive planning efforts, which do not contribute directly to the added value. A cognitive control system is able to generate essential sequences of actions at run time on the foundation of model-based knowledge regarding task, system and process flow and in consideration of current environmental information. A software framework on the basis of the cognitive architecture Soar, which allows for the creation of intelligent robotized handling processes, has been designed. In order for a human operator to supervise and interact with such a cognitively controlled system, a promising approach is to design the behavior of the system in a cognitive- ergonomic way. Thus, this paper describes the design and implementation of Methods-Time Measurement 1 (MTM-1) key elements as cognitive-ergonomic process logic to control an industrial robot in an assembly task.