Task planner for human-robot interaction inside a cooperative disassembly robotic system

摘要

This paper develops a task planner that allows including a human operator which works cooperatively withrobots inside an automatic disassembling cell. This method gives the necessary information to the systemand the steps to be followed by the manipulator and the human, in order to obtain an optimal disassemblyand a free-shock task assignation that guarantees the safety of the human operator.