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Evaluation of Robot Degradation on Human-Robot Collaborative Performance in Manufacturing
参考中译:制造中机器人退化对人-机器人协同性能的影响评价


          

刊名：Smart and Sustainable Manufacturing Systems
作者：Vinh Nguyen（Engineering Laboratory, Intelligent Systems Division, National Institute of Standards and Technology）
Jeremy Marvel（Engineering Laboratory, Intelligent Systems Division, National Institute of Standards and Technology）
刊号：780B0163/I
ISSN：2520-6478
出版年：2022
年卷期：2022, vol.6, no.1
页码：23-36
总页数：14
分类号：TH16
关键词：Manufacturing；Degradation；Industrial robot；Human-robot collaboration
参考中译：制造；退化；工业机器人；人-机器人协作
语种：eng
文摘：Human-robot collaborative systems are highly sought candidates for smart manufacturing applications because of their adaptability and consistency in production tasks. However, manufacturers are still hesitant to adopt these systems because of the lack of metrics regarding the influence of the degradation of collaborative industrial robots on human-robot teaming performance. Hence, this paper defines teaming performance metrics with respect to robot degradation. In addition, the defined metrics are applied to a human-robot collaborative inverse peg-in-hole case study with respect to the degradation of the joint angular encoder and current sensor. Specifically, this case study compares pure insertion versus insertion with spatial scanning to solve the peg-in-hole problem, and manual intervention is implemented in the event of robotic failure. The metrics used in the case study showed that pure insertion more sensitive to robot degradation with manual intervention was required at 0.04° as opposed to 0.12° from insertion with scanning. Therefore, insertion with scanning was shown to be more robust to robot degradation at the cost of a slower insertion time of 9.48 s compared to 3.19 s. Thus, this paper provides knowledge and usable metrics regarding the influence of robot degradation on human-robot collaborative systems in manufacturing applications.
参考中译：人-机器人协作系统因其在生产任务中的适应性和一致性而成为智能制造应用的热门候选系统。然而，制造商仍然对采用这些系统犹豫不决，因为缺乏关于协作工业机器人的退化对人-机器人协作性能的影响的衡量标准。因此，本文定义了与机器人降级相关的团队绩效指标。此外，将所定义的度量应用于人-机器人协作的反向钉扎-孔案例研究，该案例涉及关节角度编码器和电流传感器的退化。具体地说，这个案例研究比较了纯插入和插入与空间扫描，以解决钉在洞中的问题，并在机器人发生故障时实施人工干预。案例研究中使用的衡量标准表明，在人工干预下，纯插入对机器人退化更敏感，在0.04°时需要纯插入，而在扫描时插入时需要0.12°。因此，扫描插入对机器人退化具有更强的鲁棒性，插入时间仅为9.48 S，而插入时间仅为3.19 S。因此，本文为制造应用中机器人退化对人-机器人协作系统的影响提供了知识和有用的度量。



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