Quantification of comprehensive work flow using time-series primitive static states for human-operated work machine

Mitsuhiro Kamezaki*, Hiroyasu Iwata, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

抄録

This paper proposes a quantification method for a comprehensive work flow in construction work for describing work states in more detail on the basis of analyzing state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector. On the basis of the state transition rules derived from a transition-condition analysis, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined. PST can be classified into essential (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. To evaluate comprehensive work flows modeled by combing EST and NST, work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and work analysis using EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.

本文言語English
ホスト出版物のタイトル2012 IEEE International Conference on Robotics and Automation, ICRA 2012
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4487-4492
ページ数6
ISBN(印刷版)9781467314039
DOI
出版ステータスPublished - 2012 1月 1
イベント 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
継続期間: 2012 5月 142012 5月 18

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
国/地域United States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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