A digital twin-based frame work for task planning and robot programming in HRC

Weibo Ren; Xiaonan Yang; Yan Yan; Yaoguang Hu; Lixiang Zhang

doi:10.1016/j.procir.2021.11.062

A digital twin-based frame work for task planning and robot programming in HRC

Weibo Ren, Xiaonan Yang, Yan Yan, Yaoguang Hu^*, Lixiang Zhang

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Conference article › peer-review

6 Citations (Scopus)

Abstract

This paper presents a digital twin-based framework for complex assembly tasks in human-robot collaborative assembly system. In this research, the system is developed to support the planning, decision, and implementation of human-robot collaboration. Virtual simulation is applied from task planning to robot control, including assembly task allocation and scheduling, robot trajectory planning and programming. Online optimization is conducted for real-time control based the status of operators and robots from the real production system. An industrial case is presented to validate the performance of the proposed digital twin framework and collaborative assembly system.

Original language	English
Pages (from-to)	370-375
Number of pages	6
Journal	Procedia CIRP
Volume	104
DOIs	https://doi.org/10.1016/j.procir.2021.11.062
Publication status	Published - 2021
Event	54th CIRP Conference on Manufacturing Ssystems, CMS 2021 - Patras, Greece Duration: 22 Sept 2021 → 24 Sept 2021

Keywords

Assembly system
Digital twin
Human-robot collaboration
Virtual simulation

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10.1016/j.procir.2021.11.062

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title = "A digital twin-based frame work for task planning and robot programming in HRC",

abstract = "This paper presents a digital twin-based framework for complex assembly tasks in human-robot collaborative assembly system. In this research, the system is developed to support the planning, decision, and implementation of human-robot collaboration. Virtual simulation is applied from task planning to robot control, including assembly task allocation and scheduling, robot trajectory planning and programming. Online optimization is conducted for real-time control based the status of operators and robots from the real production system. An industrial case is presented to validate the performance of the proposed digital twin framework and collaborative assembly system.",

keywords = "Assembly system, Digital twin, Human-robot collaboration, Virtual simulation",

author = "Weibo Ren and Xiaonan Yang and Yan Yan and Yaoguang Hu and Lixiang Zhang",

year = "2021",

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language = "English",

volume = "104",

pages = "370--375",

journal = "Procedia CIRP",

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T1 - A digital twin-based frame work for task planning and robot programming in HRC

AU - Ren, Weibo

AU - Yang, Xiaonan

AU - Yan, Yan

AU - Hu, Yaoguang

AU - Zhang, Lixiang

PY - 2021

Y1 - 2021

N2 - This paper presents a digital twin-based framework for complex assembly tasks in human-robot collaborative assembly system. In this research, the system is developed to support the planning, decision, and implementation of human-robot collaboration. Virtual simulation is applied from task planning to robot control, including assembly task allocation and scheduling, robot trajectory planning and programming. Online optimization is conducted for real-time control based the status of operators and robots from the real production system. An industrial case is presented to validate the performance of the proposed digital twin framework and collaborative assembly system.

AB - This paper presents a digital twin-based framework for complex assembly tasks in human-robot collaborative assembly system. In this research, the system is developed to support the planning, decision, and implementation of human-robot collaboration. Virtual simulation is applied from task planning to robot control, including assembly task allocation and scheduling, robot trajectory planning and programming. Online optimization is conducted for real-time control based the status of operators and robots from the real production system. An industrial case is presented to validate the performance of the proposed digital twin framework and collaborative assembly system.

KW - Assembly system

KW - Digital twin

KW - Human-robot collaboration

KW - Virtual simulation

UR - http://www.scopus.com/inward/record.url?scp=85121609492&partnerID=8YFLogxK

U2 - 10.1016/j.procir.2021.11.062

DO - 10.1016/j.procir.2021.11.062

M3 - Conference article

AN - SCOPUS:85121609492

SN - 2212-8271

VL - 104

SP - 370

EP - 375

JO - Procedia CIRP

JF - Procedia CIRP

T2 - 54th CIRP Conference on Manufacturing Ssystems, CMS 2021

Y2 - 22 September 2021 through 24 September 2021

ER -

A digital twin-based frame work for task planning and robot programming in HRC

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Keywords

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