A path generation method for collision risk reduction and quantitative evaluation of assembly task partner robot

We have been developing a novel human-friendly/cooperative work support robot. This system named PaDY (in-time Parts/tools Delivery to You robot) supports worker by delivering parts and tools to worker based on statistical analysis of the work in an automobile assembly line to reduce the worker's physical workload and improve work efficiency. In this paper, the collision avoidance method based on the statistical analysis of the work and the quantitative evaluation of the effectiveness in this system are proposed.