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This paper proposes a method for human–robot (HR) task planning, considering at the same time, the design of the workplace. A model for the representation of humans and robots as a team of active resources is proposed, while equipment such as working tables and fixtures are considered passive resources. The HR workload is structured in a three-level model. A multi-criteria decision-making framework is used for the formulation of alternative layouts and task allocations. Both analytical models and simulation are used for the estimation of the criteria values, allowing for the evaluation of the different alternatives. A software prototype has been implemented and tested in white goods and in automotive industry cases, demonstrating that the tool can identify good quality solutions in a short time frame.

The Human Robot Collaborative (HRC) workplace design and the automatic task allocation can significantly decrease the time of a new set-up or a cell's reconfiguration. This paper proposes a method for an HRC workplace layout generation and the preliminary assignment of human and robot tasks. A decision making framework is proposed in order for the location of all components in the available layout space to be decided upon. The evaluation of the alternative HRC workplace layouts is based on multiple criteria. The system has been integrated with a user interface into a 3D simulation tool and tested on an automotive industry case study.

Robot programming software tools are expected to be more intuitive and user friendly. This paper proposes a method for simplifying industrial robot programming using visual sensors detecting the human motions. A vocabulary of body and hand gestures is defined, allowing the movement of robot in different directions. An external controller application is used for the transformation between human and robot motions. On the robot side, a decoder application is developed translating the human messages into robot motions. The method is integrated within an open communication architecture based on Robot Operating System (ROS), enabling thus the easy extensibility with new functionalities. An automotive industry case study demonstrated the method, including the commanding of a dual arm robot for single and bi-manual motions.

This paper discusses a method for the coordination of assembly tasks requiring the cooperation of humans with a robot. A ROS based architecture is used. The assembly sequence of these tasks and their characteristics are modeled in a neutral XML format generated off-line. A ROS based framework in order for different modules to communicate and coordinate their actions through the exchange of messages. The human is able to review the past and upcoming tasks in a graphical user interface. The human and robot coexist in a fenceless cell where safety is ensured using a certified camera system. This framework is applied to an automotive case study using the Process Simulate tool for the execution of assembly tasks.