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- Gustavsson, Patrik, 1988-
(author)
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Virtual Reality Platform for Design and Evaluation of the Interaction in Human-Robot Collaborative Tasks in Assembly Manufacturing
- 2020
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Doctoral thesis (other academic/artistic)abstract
- Industry is on the threshold of the fourth industrial revolution where smart factories area necessity to meet customer demands for increasing volumes of individualized products. Within the smart factory, cyber-physical production systems are becoming important to deal with changing production. Human-robot collaboration is an example of a cyber-physical system in which humans and robots share a workspace. By introducing robots and humans into the same working cell, the two can collaborate by allowing the robot to deal with heavy lifting, repetitive, and high accuracy tasks, while the human focuses on tasks that need intelligence, flexibility, and adaptability. There are few such collaborative applications in industry today. In the implementations that actually exist, the robots are mainly working side-by-side with humans rather than truly collaborating. Three main factors that limit the widespread application of human-robot collaboration can be identified: lack of knowledge regarding suitable human-robot collaboration tasks, lack of knowledge regarding efficient communication technologies for enabling interaction between humans and robots when carrying out tasks, and lack of efficient ways to safely analyze and evaluate collaborative tasks.The overall aim of this thesis is to address these problems and facilitate and improve interaction between humans and robots, with a special focus on assembly manufacturing tasks. To fulfill this aim, an assembly workstation for human-robot collaboration has been developed and implemented both physically and virtually. A virtual reality platform called ViCoR has been developed that can be used to investigate, evaluate, and analyze the interaction between humans and robots and thereby facilitate the implementation of new human-robot collaboration cells. The workstation developed has also been used for data collection and experiments during the thesis work, and used to extract knowledge of how the interaction between human and robot can be improved.
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| 2. |
- Liu, Hongyi, 1990-
(author)
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Context-aware human-robot collaboration in assembly
- 2020
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Doctoral thesis (other academic/artistic)abstract
- The PhD study is aiming to increase the accuracy and efficiency of human-robot collaborative (HRC) assembly systems. To achieve this goal, four main directions are investigated in this research. The first direction is HRC assembly context recognition, which focuses on the identification and recognition of relevant assembly context in the assembly environment. Valuable knowledge can be captured through the assembly context to increase assembly efficiency. The definition of assembly context is given, and recognition algorithms are designed. The second direction is multimodal robot control. Instead of coding, the possibility to control robots with multiple modalities is explored. The algorithm to increase the recognition accuracy of multimodal robot control is developed. The third direction is human motion prediction. Robots can be supported to anticipate and prepare for the human operator' next move with an accurate and timely prediction of the human operator's motion. Two different approaches are explored to predict human motions during the assembly operation. The efficiency of HRC assembly systems can be further boosted. The last direction of the study is remote HRC. A special scenario of HRC is explored where a human operator collaborates with a robot remotely. The scenario is investigated, a possible solution is also provided. Along with the four directions, key algorithms, system designs, and experiments are analysed. Furthermore, the advantages, drawbacks, and future directions of the approaches are given.
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