Journal
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
Volume 19, Issue 3, Pages 1798-1819Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TASE.2021.3131011
Keywords
Robots; Safety; Service robots; Collaboration; Ergonomics; Manufacturing; Task analysis; Industry 4; 0; industrial automation; collaborative robotics; cobots; human-robot collaboration (HRC); HRC control systems; safety; ergonomics; efficiency
Categories
Funding
- Italian University and Research Ministry through the Project Pico&Pro by the National Research Program [ARS01_01061]
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The fourth industrial revolution, also known as Industry 4.0, is reshaping the way individuals live and work, with a substantial impact on the manufacturing sector. Collaborative robotics is the key enabling technology behind Industry 4.0 and is evolving as a fundamental pillar of Industry 5.0. The main goals of human-robot collaboration in the industrial setting are to improve employee safety and well-being, while increasing profitability and productivity.
The fourth industrial revolution, also known as Industry 4.0, is reshaping the way individuals live and work while providing a substantial influence on the manufacturing scenario. The key enabling technology that has made Industry 4.0 a concrete reality is without doubt collaborative robotics, which is also evolving as a fundamental pillar of the next revolution, the so-called Industry 5.0. The improvement of employees' safety and well-being, together with the increase of profitability and productivity, are indeed the main goals of human-robot collaboration (HRC) in the industrial setting. The robotic controller design and the analysis of existing decision and control techniques are crucially needed to develop innovative models and state-of-the-art methodologies for a safe, ergonomic, and efficient HRC. To this aim, this paper presents an accurate review of the most recent and relevant contributions to the related literature, focusing on the control perspective. All the surveyed works are carefully selected and categorized by target (i.e., safety, ergonomics, and efficiency), and then by problem and type of control, in presence or absence of optimization. Finally, the discussion of the achieved results and the analysis of the emerging challenges in this research field are reported, highlighting the identified gaps and the promising future developments in the context of the digital evolution.
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