Industrial manipulator based intelligent assist system for human-robot cooperative assembly tasks

摘要

Industrial robot manipulators are widely being used for various automated tasks suchas pick and place, welding, painting, palletizing, drilling, etc. in standardized industrial processes thatrequire monotonic execution of preprogrammed repetitive tasks with high precision and/or productivity.However, in many operations, it is desirable to exploit the force capabilities of robots by directly combiningthem with the skills and incomparable sensomotoric abilities of a human being for complex tasks.