Article: Verification of manikin motions in human-industrial robot collaborative simulations Journal: International Journal of the Digital Human (IJDH) 2023 Vol.2 No.3 pp.160 - 178 Abstract: A recently developed simulation software, IPS-HIRC, combines digital humans and industrial robots into one environment in order to design human-industrial robot collaborative (HIRC) workstations. The aim of this study is to verify the manikin motions predicted by the mathematical algorithm in the software with results obtained from motions performed by humans in experiments. These motions are measured through motion capture data on humans performing a HIRC work task in laboratory workstations. These stations represent HIRC workstations considered in an international heavy vehicle manufacturing company. The results showcase significant correlations in the motions in one of the two use cases, but fewer correlations when comparing the total operation time. The main reason for this is the complexity of the two cases and the lack of professional assembly experience among the test participants. Thus, new verification studies are needed in use cases that more properly represent human motions in a manufacturing workstation. Inderscience Publishers - linking academia, business and industry through research

Title: Verification of manikin motions in human-industrial robot collaborative simulations

Authors: Fredrik Ore; Pamela Ruiz Castro; Lars Hanson; Magnus Wiktorsson; Stefan Gustafsson

Addresses: School of Innovation, Design and Engineering, Mälardalen University, Eskilstuna, Sweden; Scania CV AB, Global Industrial Development, Södertälje, Sweden ' School of Engineering Science, University of Skövde, Skövde, Sweden ' School of Engineering Science, University of Skövde, Skövde, Sweden; Department of Industrial and Materials Science, Chalmers University of Technology, Gothenburg, Sweden ' School of Innovation, Design and Engineering, Mälardalen University, Eskilstuna, Sweden; KTH, School of Industrial Engineering and Management, Södertälje, Sweden ' Industrial Path Solutions Sweden AB, Chalmers Teknikpark, 412 88 Göteborg

Abstract: A recently developed simulation software, IPS-HIRC, combines digital humans and industrial robots into one environment in order to design human-industrial robot collaborative (HIRC) workstations. The aim of this study is to verify the manikin motions predicted by the mathematical algorithm in the software with results obtained from motions performed by humans in experiments. These motions are measured through motion capture data on humans performing a HIRC work task in laboratory workstations. These stations represent HIRC workstations considered in an international heavy vehicle manufacturing company. The results showcase significant correlations in the motions in one of the two use cases, but fewer correlations when comparing the total operation time. The main reason for this is the complexity of the two cases and the lack of professional assembly experience among the test participants. Thus, new verification studies are needed in use cases that more properly represent human motions in a manufacturing workstation.

Keywords: human-robot collaboration; HRC; simulation; verification; validation; digital human modelling; DHM; industrial robot; motion capture; workstation.

DOI: 10.1504/IJDH.2023.133025

International Journal of the Digital Human, 2023 Vol.2 No.3, pp.160 - 178

Accepted: 05 Jul 2021
Published online: 25 Aug 2023 *

Title: Verification of manikin motions in human-industrial robot collaborative simulations

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