IROS 2015 Paper Abstract


Paper ThAP.51

Ore, Fredrik (Mälardalens University), Reddy Vemula, Bhanoday (Mäladalen University), Hanson, Lars (Skövde University), Wiktorsson, Magnus (Mälardalen University)

Simulation of Human Industrial Robot Collaboration – Optimisation of Handover Position

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Human-Robot Interaction, Animation and Simulation, Industrial Robots


The simulation possibilities of Human Industrial Robot Collaboration (HIRC) are limited in commercial software and published research. In order to meet this a demonstrator software has been developed. This software enables simulation, visualisation and evaluation of HIRC workstations in manufacturing industries. It calculates quantitative outputs of a workstation design in terms of total operation time and biomechanical loads on the operator. This poster presents the possibilities to combine the quantitative output with optimisation techniques in order to design the optimal HIRC workstation. One specific optimisation problem is to find the best geometric handover position between industrial robot and human. In this poster is this presented with an industrial case as a base. From the simulation software metamodels were created in order to represent the investigated workstation. The metamodel was then used in a multi-objective optimisation problem and resulted in a trade-off chart between operation time and biomechanical load enabling the decision maker to choose the most suitable trade-off between the objectives. The result shows one example of the possibilities to combine the quantitative results from the simulation with optimisation in order to get the best solution to a HIRC workstation design problem.



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