Estima-se que somente nos últimos quatro anos cerca de 5 milhões de brasileiros tenham sido atingidos por desastres naturais. Além do prejuízo financeiro, tem-se como principais consequências o impacto social negativo e o elevado número de vítimas fatais, os quais deveriam ser minimizados por intermédio do poder público. Esse último, contudo, mostra-se limitado para tal em decorrência de inúmeros infortúnios que, de modo geral, ainda não foram corretamente detectados. Nessa direção, visando à adequada estruturação da situação problemática em tela, lançou-se mão do método Strategic Options Development and Analysis. A partir de então, foi possível mapear o Sistema de Defesa Civil do Estado de São Paulo, o que viabilizou a identificação de diversos óbices e o estabelecimento de uma compreensão abrangente acerca dele. Com isto, espera-se que os resultados encontrados sirvam como ponto de partida para a realização de futuras pesquisas que visem ao desenvolvimento de soluções para os problemas supracitados.
Purpose
This paper aims to propose an evaluation method to compare two different Human–Robot Interaction (HRI) solutions that can be used for on-line programming in an industrial context: a force guidance system and the traditional teach pendant operation.
Design/methodology/approach
The method defines three evaluation criteria (agility, accuracy and learning) and describes an experimental approach based on the analysis of variance to verify the performance of guidance systems according to these criteria. This method is used in this paper to compare the traditional teach pendant interface with an implementation of a force guidance system based on the use of an external force/torque sensor.
Findings
The application of the proposed method to an off-the-shelf industrial robot shows that the force guidance system has a better performance according to the agility criterion. Both solutions have a similar performance for the accuracy criterion, with a limit of about 2 mm in the achieved position accuracy. Regarding the learning criterion, the authors cannot affirm that any of the methods has an improved agility when the operator repeats the tasks.
Practical implications
This work supports the selection of guidance systems to be used in on-line programming of industrial applications. It shows that the force guidance system is an option potentially faster than the teach pendant when the required positioning accuracy is greater than 2 mm.
Originality/value
The new method proposed in this paper can be applied to a large range of robots, not being limited to commercial available collaborative robots. Furthermore, the method is appropriate to accomplish further investigations in HRI not only to compare programming methods but also to evaluate guidance systems approaches or robot control systems.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.