Title :
A genetic algorithm for subtask allocation within human and robot coordinated assembly
Author :
Fei Chen ; Sekiyama, Kosuke ; Fukuda, Toshio
Author_Institution :
Dept. of Micro-nano Syst. Eng., Nagoya Univ., Nagoya, Japan
Abstract :
In human and robot collaborative assembly cell (Hybrid Cell), it is important to develop automaic subtask allocation method for human and robot in usage both offline and online way. In this research, first, a logic mathematic method is developed to describe this discrete event system by considering the system trade-off between the assembly time cost and payment cost. A genetic based algorithm is developed for realtime and reliable subtask allocation while maintaining this trade-off. The performance of proposed algorithm is analyzed from the experiment data study about an assembly case.
Keywords :
discrete event systems; genetic algorithms; human-robot interaction; robotic assembly; assembly time cost; automatic subtask allocation method; discrete event system; genetic algorithm; human-robot coordinated assembly cell; hybrid cell; logic mathematic method; payment cost; real-time subtask allocation; Genetic Algorithm; Hybrid Assembly System; Subtask Allocation;
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2012 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4673-4811-9
DOI :
10.1109/MHS.2012.6492504
