Programming by Demonstration (PbD), is a powerful mechanism for reducing the complexity of search space for learning. Current approaches for skill representation can be broadly divided between two trends. Low-level re...
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Programming by Demonstration (PbD), is a powerful mechanism for reducing the complexity of search space for learning. Current approaches for skill representation can be broadly divided between two trends. Low-level representations of skills, taking into account the form of a non-linear mapping between sensory and motor information, which is referred to as “trajectories encoding”. On the other hand high-level representations of skills that decompose them in a sequence of action-perception units which is referred to as “symbolic encoding” [1]. While for symbolic encoding visual perception of states and actions is one preferred approach trajectories usually are acquired from direct demonstration by hand guidance of robot arms carrying robotic tools by skilled workers. This approach requires both the process knowledge of the experienced worker and the possibility of intuitive hand guidance of the robotic tool which is negatively affected by the robots limited working space, friction or the reachability of the robot. Therefore and because it is also highly unintuitive to parameterize macro based robot programs with numerical values considering process parameters (like required forces or position parameters) we propose to let the worker use ordinary power tools during demonstration which are instrumented with additional sensors in order to be able to measure relevant parameters, so called “instrumented tools”. The paper presents the concept for a robotic workstation to be programmed by demonstration with an instrumented tool, the components of the instrumented tool as well as relevant calibration steps and results from application of the technology to an automotive preassembly process..
The current research goal in the field of robotics is to develop collaborative robots that can safely share their workspace with human coworkers. While there are working solutions to protect humans from damages induce...
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The current research goal in the field of robotics is to develop collaborative robots that can safely share their workspace with human coworkers. While there are working solutions to protect humans from damages induced by the body of the robot there are still challenges in the field of tool and work piece safety. When these challenges are completed one of the next steps will be to enable these currently spatial static robots to move freely in their working environment by mounting them to a mobile platform. In the context of future factories this enables new use cases and automatization scenarios that are not possible today. This paper shows several of these future use cases by systematically evaluating current factory structures and deducting areas for mobile robot support. To verify the theoretical results, several interviews with representatives of German companies in different market branches have been conducted and evaluated in the course of this publication. This paper is the basic work to a method for planning the application of mobile robots in future factories. The outlook describes further steps in the research, including necessary data to successfully complete certain use cases, considerations on fleet and task manager design, as well as influences of the application of mobile robots on the general factory planning methodology.
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