Human intention estimation algorithm design for robot in human and robot cooperated cell assembly

Recently, a human and robot cooperated new working style is under the growing demand in the manufactory to meet the High-Mix, Low-Volume production need of the society. In this paper, a Human and Robot Cooperation (HRC) approach is proposed. Firstly, a Non-deterministic Finite State Machine (NDFSM) and Petri-net (PN) Dual Layer Architecture (NPDLA) is proposed for human worker and robot respectively to model the task scheduling. Then, in order the make the task flow going, Kalman Filter based state estimation algorithm is adopted for the robot to estimate the human intention and determine the moment when the task should be transited from human to the robot. Finally, a case study is carried out based on the model and algorithms proposed to test the effectiveness of this HRC assembly work.