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System State Monitoring to Facilitate Safe and Efficient Human-Robot Collaboration in Hybrid Assembly Cells

[+] Author Affiliations
Carlos W. Morato

ABB Inc., Windsor, CT

Krishnanand N. Kaipa

Old Dominion University, Norfolk, VA

Satyandra K. Gupta

University of Southern California, Los Angeles, CA

Paper No. DETC2017-68269, pp. V001T02A012; 12 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1: 37th Computers and Information in Engineering Conference
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5811-0
  • Copyright © 2017 by ASME


Hybrid assembly cells allow humans and robots to collaborate on assembly tasks. We consider a model of the hybrid cell in which a human and a robot asynchronously collaborate to assemble a product. The human retrieves parts from a bin and places them in the robot’s workspace, while the robot picks up the placed parts and assembles them into the product. Realizing hybrid cells requires -automated plan generation, system state monitoring, and contingency handling. In this paper we describe system state monitoring and present a characterization of the part matching algorithm. Finally, we report results from human-robot collaboration experiments using a KUKA robot and a 3D-printed mockup of a simplified jet-engine assembly to illustrate our approach.

Copyright © 2017 by ASME



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