Collaborative manufacturing with physical human–robot interaction

• Published in: Robotics and computer-integrated manufacturing 2016-08, Vol.40, p.1-13
• Main Authors: Cherubini, Andrea, Passama, Robin, Crosnier, André, Lasnier, Antoine, Fraisse, Philippe
• Format: Article
• Language: English
• Subjects: Assembly; Automation; Cobots; Computer Science; Human; Human–robot interaction; Industrial robotics; Manufacturing engineering; Reactive and sensor-based control; Risk; Risk analysis; Robotics; Robots
• ISSN: 0736-5845; 1879-2537
• DOI: 10.1016/j.rcim.2015.12.007

Although the concept of industrial cobots dates back to 1999, most present day hybrid human–machine assembly systems are merely weight compensators. Here, we present results on the development of a collaborative human–robot manufacturing cell for homokinetic joint assembly. The robot alternates active and passive behaviours during assembly, to lighten the burden on the operator in the first case, and to comply to his/her needs in the latter. Our approach can successfully manage direct physical contact between robot and human, and between robot and environment. Furthermore, it can be applied to standard position (and not torque) controlled robots, common in the industry. The approach is validated in a series of assembly experiments. The human workload is reduced, diminishing the risk of strain injuries. Besides, a complete risk analysis indicates that the proposed setup is compatible with the safety standards, and could be certified. •Development of a collaborative human–robot manufacturing cell for joint assembly.•Physical contact between robot and human, and between robot and environment.•Trajectory optimization, admittance control and image processing are integrated.•The approach is validated on a position-controlled robot, in assembly experiments.•The human workload is reduced, diminishing the risk of strain injuries.