生産性を考慮した優先度選択法に基づく自律・遠隔ロボット衝突回避計画

抄録

This paper introduces a motion priority selection method to efficiently avoid collisions between automated and teleoperated robots in an industrial recovery scenario. While robots are becoming increasingly prevalent in industrial sites, human-robot collaboration (HRC) remains challenging when humans and robots work together on a task in a shared workspace. Robotic teleoperation technology has emerged as a promising solution for remote and safe task execution, which can be useful in manufacturing failure scenarios. The goal of this study is to minimize production loss during the recovery process while maintaining an acceptable risk level. We develop an HRC simulator to estimate productivity and risk during the recovery process and formulate an optimization problem to determine suitable parameters for a motion priority function. We demonstrate the feasibility of our novel concept by experimenting with the HRC simulator.