Abstract
The chapter presents a framework for establishing human-robot collaborative assembly in industrial environments. To achieve this, the chapter first reviews the subject state of the art and then addresses the challenges facing researchers. The chapter provides two examples of human-robot collaboration. The first is a scenario where a human is remotely connected to an industrial robot, and the second is where a human collaborates locally with a robot on a shop floor. The chapter focuses on the human-robot collaborative assembly of mechanical components, both on-site and remotely. It also addresses sustainability issues from the societal perspective. The main research objective is to develop safe and operator-friendly solutions for human-robot collaborative assembly within a dynamic factory environment. The presented framework is evaluated using defined scenarios of distant and local assembly operations when the experimental results show that the approach is capable of effectively performing human-robot collaborative assembly tasks.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
US Department of Commerce @ ecos.com/assets/uploads/2013/10/EFP-Sustainable-Manufacturing-Praciticesdited2016.pdf.
OECD. (2011). OECD sustainable manufacturing tookit—Seven steps to environmental excellence @ www.oecd.org/innovation/green/toolkit/48704993.pdf. Accessed May 20, 2019.
Wang, L., Mohammed, A., & Onori, M. (2014). Remote robotic assembly guided by 3D models linking to a real robot. CIRP Annals—Manufacturing Technology, 63(1), 1–4.
Mohammed, A., Schmidt, B., & Wang, L. (2016). Active collision avoidance for human–robot collaboration driven by vision sensors. International Journal of Computer Integrated Manufacturing, 1–11.
Holm, M., Givehchi, M., Mohammed, A., & Wang, L. (2012). Web based monitoring and control of distant robotic operations. In ASME 2012 International Manufacturing Science and Engineering Conference collocated with the 40th North American Manufacturing Research Conference and in participation with the International Conference on Tribology Materials and Processing (pp. 605–612).
Parasuraman, R., Sheridan, T. B., & Wickens, C. D. (2000). A model for types and levels of human interaction with automation. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans, 30(3), 286–297.
Blech, J. O., Spichkova, M., Peake, I., & Schmidt, H. (2014). Cyber-virtual systems: Simulation, validation & visualization. In 9th International Conference on Evaluation of Novel Approaches to Software Engineering (ENASE) (pp. 1–8).
Wang, X. G., Moallem, M., & Patel, R. V. (2003). An internet-based distributed multiple-telerobot system. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans, 33(5), 627–633.
Junior, J. M., Junior, L. C., & Caurin, G. A. (2008). Scara3D: 3-Dimensional HRI integrated to a distributed control architecture for remote and cooperative actuation. In Proceedings of 2008 ACM Symposium Applied Computing (pp. 1597–1601).
Vartiainen, E., Domova, V., & Englund, M. (2015). Expert on wheels: An approach to remote collaboration. In HAI 2015 Proceedings of the 3rd International Conference on Human-Agent Interaction (pp. 49–54).
Zhong, H., Wachs, J. P., & Nof, S. Y. (2013). HUB-CI model for collaborative telerobotics in manufacturing. IFAC Proceedings, 46(7), 63–68.
Itoh, T., Kosuge, K., & Fukuda, T. (2000). Human-machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamics. IEEE Transactions on Robotics and Automation, 16(5), 505–516.
Charles, S., Das, H., Ohm, T., Boswell, C., Rodriguez, G., Steele, R., & Istrate, D. (1997). Dexterity-enhanced telerobotic microsurgery. In Proceedings of the 8th International Conference on Advanced Robotics ICAR’97 (pp. 5–10).
Peake, I., Blech, J. O., Fernando, L., Schmidt, H., Sreenivasamurthy, R., & Sudarsan, S. D. (2015). Visualization facilities for distributed and remote industrial automation: VxLab. In Proceedings of the IEEE International Conference on Emerging Technologies & Factory Automation (pp. 1–4).
Ashby, J. E. (2008). The effectiveness of collaborative technologies in remote lab delivery systems. In Proceedings of the 38th Frontiers of Education Conference (pp. 7–12).
Karabegovic, I., Vojic, S., & Dolecek, V. (2006). 3D vision in industrial robot working process. In 12th International Power Electronics and Motion Control Conference (pp. 1223–1226).
Esteban, C. H., & Schmitt, F. (2004). Silhouette and stereo fusion for 3D object modeling. Computer Vision and Image Understanding, 96(3), 367–392.
Monje, C. A., Pierro, P., & Balaguer, C. (2011). A new approach on human–robot collaboration with humanoid robot RH-2. Robotica, 29(6), 949–957.
Takata, S., & Hirano, T. (2011). Human and robot allocation method for hybrid assembly systems. CIRP Annals—Manufacturing Technology, 60(1), 9–12.
Chen, F., Sekiyama, K., Huang, J., Sun, B., Sasaki, H., & Fukuda, T. (2011). An assembly strategy scheduling method for human and robot coordinated cell manufacturing. International Journal of Intelligent Computing and Cybernetics, 487–510.
Krüger, J., Lien, T. K., & Verl, A. (2009). Cooperation of human and machines in assembly lines. CIRP Annals—Manufacturing Technology, 58(2), 628–646.
Arai, T., Kato, R., & Fujita, M. (2010). Assessment of operator stress induced by robot collaboration in assembly. CIRP Annals—Manufacturing Technology, 59(1), 5–8.
Kuli, D., & Croft, E. A. (2007). Affective state estimation for human–robot interaction. IEEE Transactions on Robotics, 23(5), 991–1000.
Charalambous, G., Fletcher, S., & Webb, P. (2016). The development of a scale to evaluate trust in industrial human-robot collaboration. International Journal of Social Robotics, 8(2), 193–209.
Charalambous, G., Fletcher, S., & Webb, P. (2016). Development of a human factors roadmap for the successful implementation of industrial human-robot collaboration. In Proceedings of the AHFE 2016 International Conference on Human Aspects of Advanced Manufacturing (pp. 195–206).
Ore, F., Vemula, B. R., Hanson, L., & Wiktorsson, M. (2016). Human–industrial robot collaboration: Application of simulation software for workstation optimisation. Procedia CIRP, 44, 181–186.
Charalambous, G., Fletcher, S., & Webb, P. (2015). Identifying the key organisational human factors for introducing human-robot collaboration in industry: an exploratory study. The International Journal of Advanced Manufacturing Technology, 81(9–12), 2143–2155.
Cherubini, A., Passama, R., Fraisse, P., & Crosnier, A. (2015). A unified multimodal control framework for human-robot interaction. Robtics & Autonomous Systems, 70, 106–115.
Ding, H., Schipper, M., & Matthias, B. (2013). Collaborative behavior design of industrial robots for multiple human-robot collaboration. In IEEE 44th International Symposium on Robotics (ISR 2013) (Vol. 49, pp. 1–6).
Geravand, M., Flacco, F., & De Luca, A. (2013). Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture. In IEEE International Conference on Robotics and Automation (ICRA) (pp. 4000–4007).
Song, S.-W., Lee, S.-D., & Song, J.-B. (2015). 5 DOF industrial robot arm for safe human-robot collaboration. In 8th International Conference on Intelligent Robotics & Applications (ICIRA 2015) (pp. 121–129).
Michalos, G., Karagiannis, P., Makris, S., Tokçalar, Ö., & Chryssolouris, G. (2016). Augmented Reality (AR) applications for supporting human-robot interactive cooperation. Procedia CIRP, 41, 370–375.
Krüger, J., Nickolay, B., Heyer, P., & Seliger, G. (2005). Image based 3D surveillance for flexible man-robot-cooperation. CIRP Annals—Manufacturing Technology, 54(1), 19–22.
Corrales, J. A., Candelas, F. A., & Torres, F. (2011). Safe human-robot interaction based on dynamic sphere-swept line bounding volumes. Robotics & Computer Integrated Manufacturing, 27(1), 177–185.
Bi, Z. M., & Wang, L. (2010). Advances in 3D data acquisition and processing for industrial applications. Robotics & Computer Integrated Manufacturing, 26(5), 403–413.
Gecks, T., & Henrich, D. (2005). Human-robot cooperation: Safe pick-and-place operations. In Proceedings of the IEEE International Workshop on Robot & Human Interactive Communication (ROMAN 2005) (pp. 549–554).
Ebert, D., Komuro, T., Namiki, A., & Ishikawa, M. (2005). Safe human-robot-coexistence: Emergency-stop using a high-speed vision-chip. In IEEE/RSJ International Conference on Intelligent Robotic Systems (IROS 2005) (pp. 1821–1826).
Vogel, C., Walter, C., & Elkmann, N. (2013). A projection-based sensor system for safe physical human-robot collaboration. In IEEE International Conference on Intelligent Robotic Systems (IROS 2013) (pp. 5359–5364).
Tan, J. T. C., & Arai, T. (2011). Triple stereo vision system for safety monitoring of human-robot collaboration in cellular manufacturing. In Proceedings of the IEEE International Symposium on Assembly & Manufacturing (ISAM 2011) (pp. 1–6).
Schiavi, R., Bicchi, A., & Flacco, F. (2009). Integration of active and passive compliance control for safe human-robot coexistence. In Proceedings of the IEEE International Conference on Robot Automation (pp. 259–264).
Fischer, M., & Henrich, D. (2009). 3D collision detection for industrial robots and unknown obstacles using multiple depth images. Advances in Robotics Research, 111–122.
Rybski, P., Anderson-Sprecher, P., Huber, D., Niessl, C., & Simmons, R. (2012). Sensor fusion for human safety in industrial workcells. In Proceedings of the IEEE International Conference on Intelligent Robotic Systems (pp. 3612–3619).
Flacco, F., Kroeger, T., De Luca, A., & Khatib, O. (2015). A Depth space approach for evaluating distance to objects: with application to human-robot collision avoidance. Journal of Intelligent & Robotic Systems Theory, 80, 7–22.
Dániel, B., Korondi, P., & Thomessen, T. (2012). Joint level collision avoidance for industrial robots. Proceedings of the IFAC, 45(22), 655–658.
Cherubini, A., Passama, R., Crosnier, A., Lasnier, A., & Fraisse, P. (2016). Collaborative manufacturing with physical human-robot interaction. Robotics & Computer Integrated Manufacture, 40, 1–13.
Pilz GmbH & Co. KG @ www.safetyeye.com/. Accessed May 20, 2019.
Wang, L. (2008). Wise-ShopFloor: An integrated approach for web-based collaborative manufacturing. IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), 38(4), 562–573.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Mohammed, A., Wang, L. (2020). Advancing Assembly Through Human-Robot Collaboration: Framework and Implementation. In: Yan, XT., Bradley, D., Russell, D., Moore, P. (eds) Reinventing Mechatronics. Springer, Cham. https://doi.org/10.1007/978-3-030-29131-0_8
Download citation
DOI: https://doi.org/10.1007/978-3-030-29131-0_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-29130-3
Online ISBN: 978-3-030-29131-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)