Maruyama Tsubasa, Ueshiba Toshio, Tada Mitsunori, Toda Haruki, Endo Yui, Domae Yukiyasu, Nakabo Yoshihiro, Mori Tatsuro, Suita Kazutsugu
National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, Japan.
Toyota Motor Corporation, Toyota 471-8573, Japan.
Sensors (Basel). 2021 Dec 10;21(24):8266. doi: 10.3390/s21248266.
Advances are being made in applying digital twin (DT) and human-robot collaboration (HRC) to industrial fields for safe, effective, and flexible manufacturing. Using a DT for human modeling and simulation enables ergonomic assessment during working. In this study, a DT-driven HRC system was developed that measures the motions of a worker and simulates the working progress and physical load based on digital human (DH) technology. The proposed system contains virtual robot, DH, and production management modules that are integrated seamlessly via wireless communication. The virtual robot module contains the robot operating system and enables real-time control of the robot based on simulations in a virtual environment. The DH module measures and simulates the worker's motion, behavior, and physical load. The production management module performs dynamic scheduling based on the predicted working progress under ergonomic constraints. The proposed system was applied to a parts-picking scenario, and its effectiveness was evaluated in terms of work monitoring, progress prediction, dynamic scheduling, and ergonomic assessment. This study demonstrates a proof-of-concept for introducing DH technology into DT-driven HRC for human-centered production systems.
在将数字孪生（DT）和人机协作（HRC）应用于工业领域以实现安全、高效和灵活制造方面，正在取得进展。使用数字孪生进行人体建模和模拟能够在工作期间进行人体工程学评估。在本研究中，开发了一种由数字孪生驱动的人机协作系统，该系统基于数字人体（DH）技术测量工人的动作，并模拟工作进度和身体负荷。所提出的系统包含虚拟机器人、数字人体和生产管理模块，这些模块通过无线通信无缝集成。虚拟机器人模块包含机器人操作系统，并能够基于虚拟环境中的模拟对机器人进行实时控制。数字人体模块测量并模拟工人的动作、行为和身体负荷。生产管理模块在人体工程学约束下基于预测的工作进度进行动态调度。所提出的系统被应用于零件拣选场景，并在工作监测、进度预测、动态调度和人体工程学评估方面对其有效性进行了评估。本研究展示了将数字人体技术引入以数字孪生驱动的人机协作中以实现以人为本的生产系统的概念验证。
