ROS Based Coordination of Human Robot Cooperative Assembly Tasks-An Industrial Case Study

摘要

This paper discusses a method for the coordination of assembly tasks requiring the cooperation of humans with a robot. A ROS based architecture is used. The assembly sequence of these tasks and their characteristics are modeled in a neutral XML format generated off-line. A ROS based framework in order for different modules to communicate and coordinate their actions through the exchange of messages. The human is able to review the past and upcoming tasks in a graphical user interface. The human and robot coexist in a fenceless cell where safety is ensured using a certified camera system. This framework is applied to an automotive case study using the Process Simulate tool for the execution of assembly tasks.