Trust-based optimal subtask allocation and model predictive control for human-robot collaborative assembly in manufacturing

S. M.Mizanoor Rahman, Behzad Sadrfaridpour, Yue Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

39 Scopus citations

Abstract

We develop a one human-one robot hybrid cell for collaborative assembly in manufacturing. The selected task is to assemble a few LEGO parts into a final assembled product following specified instructions and sequence in collaboration between the human and the robot. We develop a two-level feedforward optimization strategy that determines the optimal subtask allocation between the human and the robot for the selected assembly before the assembly starts. We derive dynamics models for human's trust in the robot and the robot's trust in the human for the assembly and estimate the trusts. The aim is to maintain satisfactory trust levels between the human and the robot through the application of the optimal subtask allocation. Again, subtask re-allocation is proposed to regain trusts if the trusts reduce to below the specified levels. Furthermore, it is hypothesized that fluctuations in human's trust in the robot may cause fluctuations in human's speeds and the human may appreciate if the robot adjusts its speeds with changes in human speeds. Hence, trustbased Model Predictive Control (MPC) is proposed to minimize the variations between human and robot speeds and to maximize the trusts. Experiment results prove the effectiveness of the hybrid cell, the feedforward optimal subtask allocation and of the trust-based MPC. The results also show that the overall assembly performance can be enhanced and the performance status can be monitored through a single dynamic parameter, i.e. the trust.

Original languageEnglish (US)
Title of host publicationDiagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857250
DOIs
StatePublished - 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume2

Other

OtherASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/TerritoryUnited States
CityColumbus
Period10/28/1510/30/15

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering

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