Collaborative robots represent an interesting solution to automate tasks that were too difficult or too expensive to automate since they merge the flexibility of a human operator and the accuracy of automated systems. This work presents a framework developed in three levels with a top-down approach. A first offline level will solve the task scheduling problem of a human-robot collaborative workcell addressing both logistic and robotic aspects, represented by physical interferences and performance indexes. A second level will manage the shared workspace in real-time. These first two levels, due to their general nature, will be described in greater detail. The possible application and validation of the model to a specific case study will be discussed in the third level, which will describe the connection of the model towards different devices

Control Model for Collaborative Manufacturing: An Integrated Opened Framework for Human-Robot Collaboration

Boschetti G.;Faccio M.;Minto R.
2021

Abstract

Collaborative robots represent an interesting solution to automate tasks that were too difficult or too expensive to automate since they merge the flexibility of a human operator and the accuracy of automated systems. This work presents a framework developed in three levels with a top-down approach. A first offline level will solve the task scheduling problem of a human-robot collaborative workcell addressing both logistic and robotic aspects, represented by physical interferences and performance indexes. A second level will manage the shared workspace in real-time. These first two levels, due to their general nature, will be described in greater detail. The possible application and validation of the model to a specific case study will be discussed in the third level, which will describe the connection of the model towards different devices
2021
MECHANISMS AND MACHINE SCIENCE
MECHANISMS AND MACHINE SCIENCE
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/3399966
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