Assessing worker performance using dynamic cost functions in human robot collaborative tasks

Smith, Thomas; Benardos, Panorios; Branson, David

doi:10.1177/0954406219838568

Authors

Thomas Smith

Panorios Benardos

DAVID BRANSON David.Branson@nottingham.ac.uk
Professor of Dynamics and Control

Abstract

The aim of this research is to develop a framework to allow efficient Human Robot, HR, collaboration on manufacturing assembly tasks based on cost functions that quantify capabilities and performance of each element in a system and enable their efficient evaluation. A proposed cost function format is developed along with initial development of two example cost function variables, completion time and fatigue, obtained as each worker is completing assembly tasks. The cost function format and example variables were tested with two example tasks utilizing an ABB YuMi Robot in addition to a simulated human worker under various levels of fatigue. The total costs produced clearly identified the best worker to complete each task with these costs also clearly indicating when a human worker is fatigued to a greater or lesser degree than expected.

Citation

Smith, T., Benardos, P., & Branson, D. (2020). Assessing worker performance using dynamic cost functions in human robot collaborative tasks. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 234(1), 289-301. https://doi.org/10.1177/0954406219838568

Journal Article Type	Article
Acceptance Date	Feb 18, 2019
Online Publication Date	Mar 26, 2019
Publication Date	2020
Deposit Date	Mar 7, 2019
Publicly Available Date	Mar 7, 2019
Journal	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Print ISSN	0954-4062
Electronic ISSN	2041-2983
Publisher	SAGE Publications
Peer Reviewed	Peer Reviewed
Volume	234
Issue	1
Pages	289-301
DOI	https://doi.org/10.1177/0954406219838568
Keywords	Dynamic task allocation; Robotics; Machine Learning; Scheduling; Automation
Public URL	https://nottingham-repository.worktribe.com/output/1616437
Publisher URL	https://journals.sagepub.com/doi/full/10.1177/0954406219838568