Abstract
Worker-Robot Cooperation is a new industrial trend, which aims to sum the advantages of both the human and the industrial robot to afford a new intelligent manufacturing techniques. The cooperative manufacturing between the worker and the robot contains other elements such as the product parts and the manufacturing tools. All these production elements must cooperate in one manufacturing workcell to fulfill the production requirements. The manufacturing control system is the mean to connect all these cooperative elements together in one body. This manufacturing control system is distributed and autonomous due to the nature of the cooperative workcell. Accordingly, this article proposes the holonic control architecture as the manufacturing concept of the cooperative workcell. Furthermore, the article focuses on the feasibility of this manufacturing concept, by applying it over a case study that involves the cooperation between a dual-arm robot and a worker. During this case study, the worker uses a variety of hand gestures to cooperate with the robot to achieve the highest production flexibility
Abstract (translated)
工人-机器人合作是一种新的工业趋势，旨在将人类和工业机器人的优势相结合，实现新的智能制造技术。工人和机器人之间的合作制造包括产品部件和制造工具等生产要素。所有这些生产要素都必须在一家制造工作单元内合作，以满足生产需求。由于合作工作单元的性质，制造控制系统将所有合作元素连接在一起。本文提出层次控制架构作为合作工作单元的制造概念。此外，本文重点探讨了这种制造概念的可行性，通过将应用于一个涉及双臂机器人与工人合作的案例研究。在这个案例研究中，工人使用各种手势与机器人合作，以实现最高的生产灵活性。
URL
https://arxiv.org/abs/2404.00369
