期刊
JOURNAL OF MANUFACTURING SYSTEMS
卷 44, 期 -, 页码 287-294出版社
ELSEVIER SCI LTD
DOI: 10.1016/j.jmsy.2017.04.009
关键词
Human-robot collaboration; Human motion prediction; Assembly
In human-robot collaborative manufacturing, industrial robots would work alongside human workers who jointly perform the assigned tasks seamlessly. A human-robot collaborative manufacturing system is more customised and flexible than conventional manufacturing systems. In the area of assembly, a practical human-robot collaborative assembly system should be able to predict a human worker's intention and assist human during assembly operations. In response to the requirement, this research proposes a new human-robot collaborative system design. The primary focus of the paper is to model product assembly tasks as a sequence of human motions. Existing human motion recognition techniques are applied to recognise the human motions. Hidden Markov model is used in the motion sequence to generate a motion transition probability matrix. Based on the result, human motion prediction becomes possible. The predicted human motions are evaluated and applied in task-level human-robot collaborative assembly. (C) 2017 The Society of Manufacturing Engineers. Published by Elsevier Ltd. All rights reserved.
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