Robotic System Performing Dynamic Interaction in Human-Robot Cooperative Work for Assembly Operation

摘要

In order to realize human-robot cooperative work, it is necessary to have dynamic interaction for unexpected human's motion that are difficult to define in advance. In this research, we propose a robotic system that supports operator work without interfering with human work by reacting and avoiding operator motion through real-time motion generation and activation re-planning. This system is included 3D recognition of the robot's surroundings and real-time motion generation technology. We implemented in the setup of assembly work assuming a high-mix, low-volume production site, and was demonstrated in a support task that robot distribute the parts for operator's assembly work. Experimental results show that the robot can conduct the cooperative work without interfering with operator work by performing appropriate avoidance actions against operator motion.