Development of a wireless manual guidance device for intuitive ...

from research .… to market

Intelligent and Autonomous Robot Systems

Development of a wireless manual guidance

device for intuitive programming of

industrial robot and additional examples

Claudio Cenati

Milano, February 2015

Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples

1. ITIA-CNR Short Introduction

2. ITIA-CNR transfer technology model

3. 3 successful cases

ITIA is part of

the DIITET,

Department

for

Engineering,

ICT, Energy

and

Transportation

Technologies

of CNR

110

People

90

Researchers

Production

Systems

Factory

Automation

Robotics

ITIA-CNR: Facts & figures

ITIA-CNR: RTD&I units

Principal Investigator L. Molinari Tosatti

IRAS: Facts & figures

25 people

1 Senior Researcher

8 Researcher

1 Post-doc

12 Fellow Researchers

(6 PhD students)

2 Technicians

MS (<5)

Labs

- 1 shopfloor

- 1 pilot plant for the de/re-manufacturing of mechatronic device

- 1 laboratory for the development of sensors and devices

- 1 laboratory for the testing of special prototypes (now a multi-robot

system for neuro-surgical application is installed)

- 1 laboratory @ Università degli Studi di Brescia

- 1 laboratory @ Villa Beretta Hospital (Rehabilitation Robotics)

EU Projects (ongoing)

H2020-FourByThree

FP7 - FlexiCAST

FP7 - ACTIVE

FP7 - ENEPLAN

FP7 - RampCo

LinArm++

(ECHORD++ exp.)

FP7 - EuRoC

Industrial Contracts: 170k€/year

Tot. Fund raising: 860k€/year

Italian Projects:

Progetto FdF

Pro2Evo

FACTOTHUMS

FIDEAS

Riprendo

Cluster-FI

HAF

Think&go

Principal Investigator

IRAS: Main activities

sensors

monitoring devices

Industrial controllers

modeling & control of

robot-based industrial processes

robot systems

safety

human-robot interaction

Robotics & interactive systems for

rehabilitation

civil

&

aerospace

applications

1. Coding and Software Engineering

2. Sensors and Devices

3. Planning and Control

4. Safe Human-Robot Interaction

5. Medical Robotics

L. Molinari Tosatti


1. ITIA-CNR Short Introduction

2. ITIA-CNR transfer technology model


ITIA-CNR technology transfer model

Terms: • Patent right selling • Identification of the patent economic value • Inventor protection strategies • Definition of a royalties fee based policy for each item sold • Definition of a royalties fee based policy for each item integrated

into a commercial product



1. CNR-ITIA Short Introduction

2. ITIA transfer technology model


CASE N1: MANUAL GUIDANCE DEVICE

The IDEA started during SMErobot™ Project

SMErobot™ was an Integrated Project within the 6th Framework

Programme of the EC to create a new family of SME-suitable robots and

to exploit its potentials for competitive SME manufacturing (March 2005 -

May 2009).

Research and development in SMErobot™ is geared towards creating

the following technical innovations:

• Robot capable of understanding human-like instructions (by voice,

gesture, graphics)

• Safe and productive human-aware space-sharing robot (cooperative,

no fences)

• Three-day-deployable integrated robot system (modular plug-and-

produce components)

STEP 1 – Investigation

CASE N1: MANUAL GUIDANCA DEVICE

low cost plug and play device

wireless communication

sensitivity selector

show actual pose

manual guidance

state monitor

translation/rotation

selector lock

movement type

selector

start the program

Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..) …..

path debug

step front / step back

monitor

user ad-hoc interface for the post processing

USER

ROBOT


STEP 2 – Pre-industrial prototype

Research on:

• Investigation of MANUAL GUIDANCE

using FORCE SENSOR

• Investigation of SENSOR-LESS cartesian/joint

MANUAL GUIDANCE

• First concept for High Level Programming

Results:

• Implementation on COMAU Controller C++

• Implementation of SENSOR-LESS Cartesian/joint

MANUAL GUIDANCE

EXPERIMENTS PERFORMED USING COMAU ROBOT @ COMAU LABS

sensitivity selector

show actual pose

manual guidance

state monitor

translation/rotation

selector lock

movement type

selector

start the program

Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..) …..

path debug

step front / step back

monitor

Comau - MG_video.wmv


STEP 3 – Pre-industrialization

Research on:

• Investigation of alternative methods for MANUAL GUIDANCE

based on 6D OPTICAL SENSOR MOUSE

• Investigation of wireless connection with robot controller

Results:

• Implementation on COMAU Controller C++

• Implementation of a wired device based on 6D Optical

sensor mouse with on board processing electronics

• First HMI Implementation on Special Teach Pendant

Special Teach Pendant

6D OPTICAL MOUSE


M G D :-)

. Wireless teach pendant

. User interface for EASY

and INTUITIVE

PROGRAMMING

. Bluetooth communication

channel

. Embedded 6DOF optical

device

. Linux-Xenomai

. Bluetooth communication RESULT

MANUAL GUIDANCE DEVICE WIRLESS Patent No. 08425778.1 2206

Year 2009

STEP 3 - Industrialization

CASE N 2: ROBOT SCULPTOR

A laser scanner integration in a robot cell for small batch production of

sculpture artworks

Laser scanner 3D for:

• Complex surfaces of statues extraction

• Model digitalization

Robot for

• Handling the laser scanner

• Rapid prototyping for small

batch series production

SCANNER ON ROBOT CALIBRATION PROCEDURE Patent No. TO2010A000638

Year 2010

CASE N 3: LASER CUTTING CONTROL

Implementation of a method for controlling a laser cutting process and a laser cutting system.

METHOD IMPLEMENTED Patent No. WO 2012/143899 A1

Year 2012

from research .… to market

Intelligent and Autonomous Robot Systems

Development of a wireless manual guidance

device for intuitive programming of

industrial robot and additional examples

Claudio Cenati

Milano, February 2015

Development of a wireless manual guidance device for intuitive ...

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