Abstract
<p class="Abstract"><span lang="EN-US">The performance of human–robot collaboration can be improved in some assembly tasks when a robot emulates the effective coordination behaviours observed in human teams. However, this close collaboration could cause collisions, resulting in delays in the initial scheduling. Besides the commonly used acoustic or visual signals, vibrations from a mobile device can be used to communicate the intention of a collaborative robot (cobot). In this paper, the communication time of a virtual reality and depth camera-based system is presented in which vibration signals are used to alert the user of a probable collision with a UR5 cobot. Preliminary tests are carried out on human reaction time and network communication time measurements to achieve an initial picture of the collision predictor system’s performance. Experimental tests are also presented in an assembly task with a three-finger gripper that functions as a flexible assembly device.</span></p>
Highlights
According to the International Federation of Robotics 2019 report, the average robot density in the manufacturing industry has grown to a new global record of 113 units per 10,000 employees [1]
The performance of human–robot collaboration can be improved in some assembly tasks when a robot emulates the effective coordination behaviours observed in human teams
Besides the commonly used acoustic or visual signals, vibrations from a mobile device can be used to communicate the intention of a collaborative robot
Summary
According to the International Federation of Robotics 2019 report, the average robot density in the manufacturing industry has grown to a new global record of 113 units per 10,000 employees [1]. A cobot has to operate with strict safety installations (protective stop execution when a certain force in a collision is reached), as outlined in ISO/TS 15066:2016 [5], ISO 10218‐1:2011 [6] and ISO 10218‐2:2011 [7], but these protective stops could cause a significant cumulative delay in production This depends largely on how the robot program has been written, i.e. whether operations can be continued after a protective stop. The deficiency of the study is the pre-collision strategy for safe human–robot collaboration because this results in the complete stoppage of the robot This is a safe protocol, as it reduces the production break time, but it does not eliminate it completely.
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