期刊
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
卷 73, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2021.102227
关键词
Human-robot collaboration; Reinforcement learning; Adaptive decision; Task allocation
资金
- National Key Research and Development Program of China [2019YFB1706300]
- Graduate Student Innovation Fund of Donghua University [CUSF-DH-D-2020053]
- Fundamental Research Funds for the Central Universities [CUSF-DH-D-2020053, 2232019D3-32]
- ShanghaiSailing Program [19YF1401600]
The assembly process of high precision products requires human-robot collaboration to optimize efficiency, but the unpredictability of human behavior poses a challenge. A human-robot collaborative reinforcement learning algorithm has been proposed and validated through experimental analysis to optimize task allocation in assembly processes.
The assembly process of high precision products involves a variety of delicate operations that are timeconsuming and energy-intensive. Neither the human operators nor the robots can complete the tasks independently and efficiently. The human-robot collaboration to be applied in complex assembly operation would help reduce human workload and improve efficiency. However, human behavior can be unpredictable in assembly activities so that it is difficult for the robots to understand intentions of the human operations. Thus, the collaboration of humans and robots is challenging in industrial applications. In this regard, a human-robot collaborative reinforcement learning algorithm is proposed to optimize the task sequence allocation scheme in assembly processes. Finally, the effectiveness of the method is verified through experimental analysis of the virtual assembly of an alternator. The result shows that the proposed method had great potential in dynamic division of human-robot collaborative tasks.
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