In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of industrial robots at manufacturing sites has been instrumental in mitigating human workload. Nevertheless, the challenge persists in achieving effective human-robot collaboration/cooperation where human workers and robots share a workspace for collaborative tasks. In the event of an industrial robot encountering a failure, it necessitates the suspension of the corresponding factory cell for safe recovery. Given the limited capacity of pre-programmed robots to rectify such failures, human intervention becomes imperative, requiring entry into the robot workspace to address the dropped object while the robot system is halted. This non-continuous manufacturing process results in productivity loss. Robotic teleoperation has emerged as a promising technology enabling human workers to undertake high-risk tasks remotely and safely. Our study advocates for the incorporation of robotic teleoperation in the recovery process during manufacturing failure scenarios, which is referred to as "Cooperative Tele-Recovery". Our proposed approach involves the formulation of priority rules designed to facilitate collision avoidance between manufacturing and recovery robots. This, in turn, ensures a continuous manufacturing process with minimal production loss within a configurable risk limitation. We present a comprehensive motion priority optimization framework, encompassing an HRC simulator-based priority optimization and a cooperative multi-robot controller, to identify optimal parameters for the priority function. The framework dynamically adjusts the allocation of motion priorities for manufacturing and recovery robots while adhering to predefined risk limitations.

翻译：本研究提出了一种优化框架，旨在提升工业恢复场景中自动化与遥操作机器人运动优先级设计的效率。工业机器人在制造现场的应用日益普及，有效减轻了人类工作负荷。然而，在人类操作员与机器人共享工作空间完成协作任务时，实现高效人机协作仍面临挑战。当工业机器人发生故障时，需暂停对应工厂单元进行安全恢复。由于预编程机器人修复此类故障的能力有限，人类干预成为必要——必须进入机器人工作空间处理坠落物体，而此时机器人系统已停止运行。这种非连续性制造过程会导致产能损失。机器人遥操作技术应运而生，使人类操作员能够远程安全地执行高风险任务。本研究主张在制造故障恢复过程中引入机器人遥操作，称之为“协同遥恢复”。所提方法通过制定优先级规则，避免制造机器人（指执行正常生产任务的自动化机器人）与恢复机器人（指执行遥操作恢复任务的机器人）发生碰撞，从而在可配置风险限制内实现最小化产能损失的连续制造过程。我们提出了一个完整的运动优先级优化框架，包含基于人机协作仿真的优先级优化模块与协同多机器人控制器，用于识别优先级函数的最优参数。该框架在遵守预定义风险限制的前提下，动态调整制造机器人与恢复机器人的运动优先级分配。