Human-Robot Collaborative Assembling Task Planning by Using Digital Twin

This paper explores human-robot collaboration in assembly tasks using a digital twin (DT) and virtual reality (VR) technology to enhance efficiency and safety. A task planning algorithm based on A* is introduced to determine the optimal sequence of assembly operations. The system incorporates a UR3e robot and colored prisms in an experimental setup, simulating collaborative tasks. The methodology includes task scheduling and assignment within the DT, with results evaluated using Visual Components Premium. This approach demonstrates improvements in task allocation, highlighting the significance of precision and collaboration in shared workspaces.