文章基本信息

标题：Human-robot collaborative assembly: a use-case application
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作者：Andrea Casalino ; Filippo Cividini ; Andrea Maria Zanchettin 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：11
页码：194-199
DOI：10.1016/j.ifacol.2018.08.257
语种：English
出版社：Elsevier
摘要：AbstractFuture production plants will see more and more the presence of humans actively collaborating with robots. Typical scenarios are those related to assembly lines. In such contexts the behaviour of humans is not controllable. Therefore the problem is to produce a scheduling for robotic activities accounting for the predicted human intentions. In this work we propose a scheduling strategy based on Time Petri Nets. The sequence of commands scheduled for the robot are executed exploiting the receding horizon principle. The developed approach is applied on a realistic use-case, in which one human operator and a dual-arm robot actively collaborate to perform the assembly of a real product.
关键词：KeywordsFlexible manufacturing systemsScheduling algorithmsAssembly robotsDiscrete-event dynamic systemsPredictive controlIntelligent manufacturing systemsAgile manufacturing