Two arms are better than one: cooperative dual arm robot ... releases/SMErobotics... · thanks to a...
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In the SME of the future human and robot will work together in a tight contact and numerous assembly pro- cesses could be automated with intelligent use of new robotized solutions: smart robots will cooperate with the operators in order to accomplish stressful tasks and 'not-ergonomic' activities. Repetitive and complex task as assembling will be managed in very intuitive way. With the introduction of sensor based, cognitive skills, dexterity on the robotized systems the end-user will benefit from high robot repeatability in comparison with today's man-made assembly operation. The new system will increase the possibility to automate many operations systems with the required new and power- ful features. Several benefits there will be for the user: • Reduce the system integration time • Reduction of error recovery • Adaptation to a wide range of application • Flexibility of the multi arm system (combined or single use of each arm) • Cost reduction with fixtures approach The project takes off from an assembling test case cur- rently executed by human and that has been developed in order to automate it. The cognitive function support the cooperation between human and robot in the differ- ent phases of each task. Both program generation and program execution are been taken into account. During program generation, the worker shows to the robot the positions by guiding the robot and combining the skills for more complex tasks. At the same time, an automat- ed planning system for assembly tasks with sequence constraints can be used. During program execution, there is a combination of the pure motion kernel with a skill execution engine. The robot is enabled to cover complex tasks without complex programming. Addition- ally, the robot is able to learn; it adapts to exceptions and the manually provided recovery strategies. The assembly will be demonstrated using these functionali- ties. The project is going on and new, continuous develop- ments are carrying out. The current state of the project foresees the following final hardware setup: Several tasks of the process are been already executed as for example: • Peg in hole insertion • Grasping with cooperative motion • Automatic Screwing • Object recognition with vision system • Integration of fenceless approach using safety sensors Two arms are better than one: cooperative dual arm robot for new assembling task!
Transcript of Two arms are better than one: cooperative dual arm robot ... releases/SMErobotics... · thanks to a...
In the SME of the future human and robot will work together in a tight contact and numerous assembly pro-cesses could be automated with intelligent use of new robotized solutions: smart robots will cooperate with the operators in order to accomplish stressful tasks and 'not-ergonomic' activities. Repetitive and complex task as assembling will be managed in very intuitive way.
With the introduction of sensor based, cognitive skills, dexterity on the robotized systems the end-user will benefit from high robot repeatability in comparison with today's man-made assembly operation. The new system will increase the possibility to automate many operations systems with the required new and power-ful features. Several benefits there will be for the user:
•Reducethesystemintegrationtime
•Reductionoferrorrecovery
•Adaptationtoawiderangeofapplication
•Flexibilityofthemultiarmsystem(combinedorsingle useofeacharm)
•Costreductionwithfixturesapproach
The project takes off from an assembling test case cur-rently executed by human and that has been developed in order to automate it. The cognitive function support the cooperation between human and robot in the differ-ent phases of each task. Both program generation and program execution are been taken into account. During program generation, the worker shows to the robot the positions by guiding the robot and combining the skills for more complex tasks. At the same time, an automat-ed planning system for assembly tasks with sequence constraints can be used. During program execution,
there is a combination of the pure motion kernel with a skill execution engine. The robot is enabled to cover complex tasks without complex programming. Addition-ally, the robot is able to learn; it adapts to exceptions and the manually provided recovery strategies. The assembly will be demonstrated using these functionali-ties.
The project is going on and new, continuous develop-ments are carrying out. The current state of the project foresees the following final hardware setup:
Several tasks of the process are been already executed as for example:•Peginholeinsertion
•Graspingwithcooperativemotion
•AutomaticScrewing
•Objectrecognitionwithvisionsystem
•Integrationoffencelessapproachusingsafetysensors
Twoarmsarebetterthanone:cooperativedualarmrobotfornewassemblingtask!
Thisistheoverviewarchitectureofthecell,withinevi-denceallthehardwareandsoftwarecomponents:
Robotics is the leading technology of the future, nodoubts!Andinthenextyearsitwillbespreadinallthefieldsofhumanactivities:forthisreasonrobotsmanu-facturersandresearchersneedtopreparethewayforthisrevolutioncreatingsystemsevereasiertouse,evermoreflexibleanddexterous,comfortablypermittingtheinteractionwithhuman.Withtheuseofpowerfulcogni-tivesystemandsensorbasedplatformtherobotwillbeabletoworkcloselywiththeworkerinordertoaccom-plishmoreandmoretasksthatcurrentlyareexecutedbyhumanbecauseofthenotreliabilityofaautomatizedsolution.Theoperatorwillbenotaroboticsexpertbutthankstoaverysmartrobothewillbeabletoworkwith
itwithoutanyspecificcompetenceinprogramming,au-tomation,robotics.Paraphrasing: IntheFutureI'llseetherobotsandhumansoneveryprocessandineveryenterprise
TheCoordinationinsideComauofalong,veryambitiousprojectasSMErobotics,isarealchallenge.Talkaboutanewparadigmofroboticsinsideasectorwithagreatvo-cationinhardindustrialprocessisalmostabet.Roboticsformanyyearhasbeenidentifiedasamatterforhighspecializedpeopleandbigrichindustriesandmodifythecommonsenseofviewisreallyhard.Workingwithmanypartnerstoachieveacommongoalisnoteasy,moreo-verwhena lotof topics, issues,anddevelopmentsarerequested.Atthebeginningisveryhardtoimaginehowtheprojectwillbecarriedoutand inwhichwayall thepartscanfittogetherbutstepbystepisverysatisfactorytoseethatthetargetisevercloserandcloserbesidesofdifficultiesorsomelittledeviationfromtheformerplan.For this exhibit the assembling scenario was alreadyclear from thebeginning, butnotever themeansandthecompletewaytoproceed:everydayisanopportunitytodiscoverandincreaseourknowledgeandanewtileisaddingtotheentiremosaic!
Facts about SMEroboticsThe SMErobotics initiative, www.smerobotics.org, con-sisting of major European robot manufacturers andleadingresearchinstitutes, isdevelopingandmaturingtechnicalfoundationsforproductiveandintelligentro-botsolutionsthatarefeasibleinsmall-to-medium-scaleproductionsettingsandwillshowcasesomeoftheseatAUTOMATICA2014onbooth 131 inhallA4.Westrive tobringcognitiveroboticstotheshop-floor,facilitatingtheuseofautomationandrobottechnologytoimprovethecompetitivenessofsmallandmedium-sizedenterprises(SMEs)inassembly,woodworkingandweldingscenarios.
Project full title: “The European Robotics Initiative forStrengtheningtheCompetitivenessofSMEsinManufac-turingbyintegratingaspectsofcognitivesystems”
GrantAgreementNumber:FP7–IP287787
SMEroboticspartners:
Fraunhofer-InstitutfürProduktionstechnikundAu-tomatisierung(IPA)
COMAUS.p.A.
DLR–DeutschesZentrumfürLuft-undRaumfahrte.V.
DTI–DanishTechnologicalInstitute
GPSGesellschaftfürProduktionssystemeGmbH
GÜDELAG
KUKALaboratoriesGmbH
ReisGmbH&CoKGMaschinenfabrik
fortiss–An-InstitutderTechnischenUniversitätMünchen
LundUniversity–ULUND
ForspecificquestionsrelatedtoSMEroboticsdonothesitatetocontactus:
SMEroboticsProjectSecretariatThiloZimmermannandBjörnKahlGPSGesellschaftfürProduktionssystemeGmbH
Nobelstr.1270569StuttgartGermany
Phone:[email protected]
www.smerobotics.orgwww.twitter.com/SMEroboticsEUwww.facebook.com/SMEroboticsEUwww.youtube.com/user/SMEroboticsEU
The European Robotics Initiative for Strengthening the Competitiveness of SMEs in Manufacturing by integrating aspects of cognitive systems
