Assisted assembly process by gesture controlled robots

Abstract

During repetitive tasks, human worker is prone to inaccuracies like switching up assembly steps. These errors can be prevented by a robot handing over the appropriate tools or workpieces, indicating the forthcoming step in the process plan. A general handover model has been specified, taking into consideration fundamental safety measures, as well as basic comfort requirements. By utilizing gesture communication, we established a method, that is capable of dynamically negotiating the necessary conditions of the handover task. The proposed approach has been evaluated in laboratory environment, supporting its technical feasibility.