Entwicklung eines kognitiven Simulationsmodells für die effektive Mensch-Roboter-Kooperation

  • Development of a cognitive simulation model for the effective human-robot cooperation

Faber, Marco Daniel; Nitsch, Verena (Thesis advisor); Schilp, Johannes (Thesis advisor)

Düren : Shaker (2020)
Book, Dissertation / PhD Thesis

In: Industrial engineering and ergonomics 35
Page(s)/Article-Nr.: xiv, 235 Seiten : Illustrationen, Diagramme

Dissertation, RWTH Aachen University, 2019


Changing general conditions of the global economy and increasing international competition demand a high degree of adaptability from manufacturing companies. Although self-optimizing production systems allow short-term adaptations, they must be based on human-centred design if they are to cooperate effectively with humans. In addition, new technologies in robotics make it possible to rethink production planning and use robots in close proximity to the working person. Against this background, the aim of this thesis was to develop a control model for assembly sequence planning in human-robot cooperation (HRC). For this purpose, alternative assembly sequences are mapped in an assembly graph and evaluated using human-centered criteria. The final assembly sequence is then determined using optimizing search procedures. The continuous observation of the production environment as well as the necessary adaptation of the internal goals and structures guarantees a fast reaction to changes. In a two-stage procedure, the effective extension of a cognitively automated control unit for a robot-based assembly cell was first demonstrated with the help of a pilot study. In two simulation studies, the cooperative assembly was investigated under controlled production conditions. Both the allocation of assembly activities between human and robot and the ergonomic conditions for the working person were improved without significant additional effort for the assembly process. Based on the results of the pilot study, the final control model was developed. Influencing criteria on HRC were identified and integrated into the control model in the form of generic planning rules. The resulting model optimizes the allocation of resources and the sequence of the assembly steps based on ergonomic and process-related factors. In a third simulation study, the evaluation of the assembly sequence as well as the corresponding physical and cognitive ergonomic indicators of the cooperative assembly could be improved. Through self-optimizing assembly sequence planning and elimination of non-value-adding activities, this dissertation thus contributes significantly to the improvement of cooperative assembly in a dynamic production environment. Based on the results obtained, design recommendations for the transfer of the control model into operational practice are given.