Development and Analysis of a High-speed Human-Robot Collaborative System and its Application

摘要

In this research, we focus on human-robot collaboration. There were two goals: 1) a collaborative motion in which the robot keeps a board horizontal and follows the orientation of the board, even when a human moves the board randomly and at high speed, 2) a collaborative peg-in-hole task as one example of this human-robot collaborative motion. To achieve these, we developed a high-speed human-robot collaborative system using a high-speed robot hand and a high-speed camera. We explain an algorithm for performing collaborative tasks, and we analyse the stability of the collaborative system and a so-called collaborative error caused by image processing and latency. We achieved the collaborative motion using this developed system. We evaluated the collaborative error based on the analysis results, and we examined the validity of the stability condition obtained from the analysis. Finally, we also demonstrated a collaborative peg-in-hole task with the system.