Determination of Delivery Position for an Assembly Task Co-worker Robot Considering Worker's Safety, Visibility and Comfort

摘要

We have developed an assembly task co-worker robot to support worker's in their task by delivering the parts and tools to workers. In previous system, the delivery position is computed by adding an offset to working position which is given based on the statistical model. It can result in uncomfortable human-robot interaction or in accidental collisions with workers. In this paper, we propose the method to determine the delivery position considering the worker's safety, visibility and comfort. In addition, we propose the online trajectory planning system to convergent to the calculated delivery position. Integrating these two systems, the experiments are performed for showing its validity.