A Cooperative Shared Control Scheme Based on Intention Recognition for Flexible Assembly Manufacturing.

Area of Science:

• Robotics
• Artificial Intelligence
• Manufacturing Engineering

Background:

• Current human-robot collaboration (HRC) in manufacturing often involves workspace sharing but lacks true synchronous cooperation.
• Independent work within shared spaces limits the potential for seamless human-robot interaction and synchronized task execution.

Purpose of the Study:

• To propose a novel cooperative shared control scheme for HRC that integrates workspace and time sharing.
• To enhance human-robot interaction through intention recognition and adaptive robot responses.
• To achieve synchronous operation in HRC for improved manufacturing efficiency.

Main Methods:

• Utilized a 3D point cloud classification algorithm for human operation intention recognition.
• Developed a robot motion control algorithm for real-time obstacle detection during HRC.
• Implemented a cooperative control strategy to ensure synchronized human-robot operations.

Main Results:

• Successfully recognized human operational intentions using 3D point cloud data.
• Demonstrated effective obstacle detection and avoidance in the HRC workspace.
• Achieved synchronous operation through the proposed cooperative control strategy in a sample assembly task.

Conclusions:

• The proposed cooperative shared control scheme significantly improves HRC by enabling intention recognition and synchronous operation.
• This method enhances robot adaptability by allowing tool selection based on recognized human intent.
• The approach shows potential for extension to more complex and delicate flexible assembly tasks in manufacturing.