Task Location for High Performance Human-Robot Collaboration
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Task Location for High Performance Human-Robot Collaboration Abdel-Nasser Sharkawy 1,2 Nikos Aspragathos 2
&
Charalampos Papakonstantinou 2 & Vassilis Papakostopoulos 3 & Vassilis C. Moulianitis 3 &
Received: 16 August 2019 / Accepted: 17 February 2020 # Springer Nature B.V. 2020
Abstract In this paper, an approach for the evaluation of human-robot collaboration towards high performance is introduced and implemented. The human arm and the manipulator are modelled as a closed kinematic chain and the proposed task performance criterion is used based on the manipulability index of this chain. The selected task is a straight motion in which the robot endeffector is guided by the human operator via an admittance controller. The best location of the selected task is determined by the maximization of the minimal manipulability along the path. Evaluation criteria for the performance are adopted considering the ergonomics literature. In the experimental set-up with a KUKA LWR manipulator, multiple subjects repeat the specified motion to evaluate the introduced approach experimentally. Keywords Manipulability index . Closed kinematic chain . Genetic algorithm . Human-robot cooperation . Ergonomics . Admittance controller
1 Introduction Physical human-robot collaboration has significant advantages in cooperative task execution compared to guidance by the teach pendant or simple robotic automation. Tasks such as heavy or bulky objects manipulation and heavy parts assembly require high flexibility of the human operator and the robot payload ability. Therefore, the cooperative manipulation could facilitate the tasks achievement as well as reduce the burden from the human. It is important to find the best configuration of both
the human-arm and the robot in a co-manipulation task for improving the HRI by increasing the human comfort as well as the task speed (minimizing the task completion time). In robotics, the manipulability index is used as a dexterity measure showing the convenience of the robot end-effector motion in various directions. With high manipulability lower joint velocities are required for the same end-effector velocity. Since the human arm could be modelled as a kinematic chain, the manipulability is used in ergonomics apart from other criteria and measures for the evaluation of human arm motion.
Abdel-Nasser Sharkawy, Charalampos Papakonstantinou, Vassilis Papakostopoulos, Vassilis C. Moulianitis and Nikos Aspragathos contributed equally to this work. Electronic supplementary material The online version of this article (https://doi.org/10.1007/s10846-020-01181-5) contains supplementary material, which is available to authorized users. * Abdel-Nasser Sharkawy [email protected]
Nikos Aspragathos [email protected]
Charalampos Papakonstantinou [email protected]
1
Mechanical Engineering Department, Faculty of Engineering, South Valley University, Qena 83523, Egypt
Vassilis Papakostopoulos [email protected]
2
Department of Mechanical Engineering and Aeronautics, Universit
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