Arrangement planning for multiple self-moving trays in human supporting production cell "attentive workbench"

We have proposed "attentive workbench (AWB)", a new cell production system in which an intelligent system supports human workers. Recognizing worker's condition and intention, the system supports workers from both physical and information aspects. This paper deals with physical assembly support using self-moving parts trays. The system delivers necessary assembly parts to workers and clears finished products quickly. On transporting large products, multiple trays are subjected to form a rigid body working as a large single tray. In order to realize this arrangement of trays in real-time, a planning method based on the priority scheme and heuristic rule is proposed. The present method is evaluated through simulations. A demonstration of assembly support using real self-moving trays is shown.

[1]  Stephen J. Buckley,et al.  Fast motion planning for multiple moving robots , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[2]  I. Hidaka,et al.  Analysis of respiratory sinus arrhythmia with respect to respiratory phase. , 2000, Methods of information in medicine.

[3]  Jun Ota,et al.  Motion Planning of Multiple Mobile Robots Using Virtual Impedance , 1993, J. Robotics Mechatronics.

[4]  Yoichi Sato,et al.  Real-Time Fingertip Tracking and Gesture Recognition , 2002, IEEE Computer Graphics and Applications.

[5]  Kiyoshi Kotani,et al.  Motion Control of Self-Moving Trays for Human Supporting Production Cell "Attentive Workbench" , 2005, ICRA.

[6]  Hiroshi Noborio,et al.  Sensor-Based Traffic Rules for Multiple Automata Based on a Geometric Deadlock-Free Characteristic , 1996, J. Robotics Mechatronics.

[7]  Gunther Reinhart,et al.  Integrating Augmented Reality in the Assembly Domain - Fundamentals, Benefits and Applications , 2003 .

[8]  Shinichi Seki.  One by One Production in the "Digital Yatai" : Practical Use of 3D-CAD Data in the Fabrication( Digital Engineering) , 2003 .

[9]  J. Molineros,et al.  Computer vision for guiding manual assembly , 2001, Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in the Twenty-first Century. (Cat. No.01TH8560).

[10]  Tomás Lozano-Pérez,et al.  On multiple moving objects , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[11]  서효정,et al.  Cell-assembly의 생리학적 증거 , 2002 .

[12]  J. Ota,et al.  Deskwork support system based on the estimation of human intentions , 2004, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759).

[13]  Kiyoshi Takamasu,et al.  Evaluation of Thrust Force and Positioning Accuracy of a New Linear Motor , 2005 .

[14]  Shigeki Sugano,et al.  Human intention based physical support robot system in assembling work. Extraction of behaviour support trigger from "Work Triangle" , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).