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7th CIRP Conference on Assembly Technologies and Systems (CATS) - Intelligent Assembly Systems

作者： Blankemeyer, Sebastian Wiemann, Rolf Posniak, Lukas Pregizer, Christoph Raatz, Annika Leibniz Univ Hannover Inst Assembly Technol Univ 2 D-30823 Hannover Germany Leibniz Univ Hannover Hannover Germany Viewlicity GmbH Schaferkampsallee 42 D-20357 Hamburg Germany

The demands on companies caused by the markets are becoming more and more fast-moving and complex. Reasons are the increasing number of variants of products as well as reduced product life cycle times. This is particularly relevant for assembly tasks, since a very high flexibility and adaptability to varying ambient condition must be ensured in this area. Therefore, a lot of steps are currently being carried out manually. However, if an automation is attempted in the field of assembly, companies are often facing a trade-off between a high degree of automation and flexibility of the production system. A concept to increase the automation rate in assembly tasks can be seen in the use of collaborative robots, so that the benefits of both, humans and robots, can be combined to accomplish the task. In doing so, one key issue is to simplify and thus to accelerate the programming process so that the necessary programming skills of employees can be reduced. Although some of today's collaborative robots already offer good programming approaches like kinesthetic teaching, this article introduces a new and more intuitive programming method which is based on Augmented Reality. For this purpose, components of an assembly group are virtually linked with CAD models by using optical markers. The operator can then virtually assemble the components according to the assembly sequence. Results of first tests indicate, that once the assembly process is recorded, the robot can accomplish the assembly in reality. Finally, possibilities for future developments are presented. (C) 2018 The Authors. Published by Elsevier B. V.

关键词： augmented reality intuitive robot programming human-machine-interaction

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intuitive robot programming Using Augmented Reality

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Procedia CIRP 2018年 76卷 155-160页

作者： Sebastian Blankemeyer Rolf Wiemann Lukas Posniak Christoph Pregizer Annika Raatz Leibniz Universität Hannover Institute of Assembly Technology An der Universität 2 30823 Garbsen Germany Leibniz Universität Hannover student Viewlicity GmbH Schäferkampsallee 42 20357 Hamburg Germany

The demands on companies caused by the markets are becoming more and more fast-moving and complex. Reasons are the increasing number of variants of products as well as reduced product life cycle times. This is particularly relevant for assembly tasks, since a very high flexibility and adaptability to varying ambient condition must be ensured in this area. Therefore, a lot of steps are currently being carried out manually. However, if an automation is attempted in the field of assembly, companies are often facing a trade-off between a high degree of automation and flexibility of the production system. A concept to increase the automation rate in assembly tasks can be seen in the use of collaborative robots, so that the benefits of both, humans and robots, can be combined to accomplish the task. In doing so, one key issue is to simplify and thus to accelerate the programming process so that the necessary programming skills of employees can be reduced. Although some of today’s collaborative robots already offer good programming approaches like kinesthetic teaching, this article introduces a new and more intuitive programming method which is based on Augmented Reality. For this purpose, components of an assembly group are virtually linked with CAD models by using optical markers. The operator can then virtually assemble the components according to the assembly sequence. Results of first tests indicate, that once the assembly process is recorded, the robot can accomplish the assembly in reality. Finally, possibilities for future developments are presented.

关键词： augmented reality intuitive robot programming human-machine-interaction

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An Approach on Simplifying the Commissioning of Collaborative Assembly Workstations Based on Product-LifecycleManagement and intuitive robot programming 2nd

An Approach on Simplifying the Commissioning of Collaborativ...

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2nd International Conference on Intelligent Human Systems Integration (IHSI) - Integrating People and Intelligent

作者： Herfs, Werner Storms, Simon Petrovic, Oliver Rhein Westfal TH Aachen Chair Machine Tools Lab Machine Tools & Prod Engn WZL Steinbachstr 19 D-52074 Aachen Germany

ISBN: (纸本)9783030110512;9783030110505

Today's trends in the manufacturing industry lead to shorter productlifecycles and smaller batch sizes with an increasing number of variants in the product range. These trends make it increasingly difficult to implement fully automated production processes economically. One approach that nevertheless makes the advantages of process automation accessible is partial automation through the application of human-robot collaboration (HRC). Small and medium-sized companies, in particular, lack the necessary expertise to successfully implement this technology. Standardized planning systems can bridge these competence gaps. This paper presents a system of this kind. The combination of product-lifecycle-management with collaboration-specific process planning significantly simplifies the commissioning of HRC-processes in dynamic process environments. In addition, a graphical user-interface, makes robot programming more intuitive in order to avoid the tedious training of codebased robot programming.

关键词： Human-robot-collaboration Product-lifecycle-management intuitive robot programming Assembly planning

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intuitive Methods of Industrial robot programming in Advanced Manufacturing Systems 2nd

Intuitive Methods of Industrial Robot Programming in Advance...

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2nd International Conference on Intelligent Systems in Production Engineering and Maintenance (ISPEM)

作者： Krot, Kamil Kutia, Vitalii Wroclaw Univ Sci & Technol Lukasiewicza St 5 PL-50371 Wroclaw Poland

ISBN: (纸本)9783319974903;9783319974897

In this article a brief review of the modern industrial robot programming methods is given. It is noted that there are a lot of research conducted to improve robot programming process, make it shorter, easier, cost-effective and user friendly. These goals can be achieved by implementing of new advanced achievements of the IT sphere into industrial robotics. Industrial robot programing by demonstration alongside with the use of virtual and augmented reality is one of the most promising technologies that can significantly reduce the integration costs and time for industrial robot integration into a production process.

关键词： Industrial robots Augmented reality Human-robot interaction intuitive robot programming Manufacturing systems

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Survey on human-robot collaboration in industrial settings: Safety, intuitive interfaces and applications

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MECHATRONICS 2018年 55卷 248-266页

作者： Villani, Valeria Pini, Fabio Leali, Francesco Secchi, Cristian Univ Modena & Reggio Emilia Dept Sci & Methods Engn DISMI Reggio Emilia Italy Univ Modena & Reggio Emilia Dept Engn Enzo Ferrari DIEF Modena Italy

Easy-to-use collaborative robotics solutions, where human workers and robots share their skills, are entering the market, thus becoming the new frontier in industrial robotics. They allow to combine the advantages of robots, which enjoy high levels of accuracy, speed and repeatability, with the flexibility and cognitive skills of human workers. However, to achieve an efficient human-robot collaboration, several challenges need to be tackled. First, a safe interaction must be guaranteed to prevent harming humans having a direct contact with the moving robot. Additionally, to take full advantage of human skills, it is important that intuitive user interfaces are properly designed, so that human operators can easily program and interact with the robot. In this survey paper, an extensive review on human-robot collaboration in industrial environment is provided, with specific focus on issues related to physical and cognitive interaction. The commercially available solutions are also presented and the main industrial applications where collaborative robotic is advantageous are discussed, highlighting how collaborative solutions are intended to improve the efficiency of the system and which the open issue are.

关键词： Human-robot collaboration Collaborative robots Safety User interfaces intuitive robot programming Industrial applications

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Direct off-line robot programming via a common CAD package

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robotICS AND AUTONOMOUS SYSTEMS 2013年第8期61卷 896-910页

作者： Neto, Pedro Mendes, Nuno Univ Coimbra Dept Mech Engn POLO 2 CEMUC P-3030708 Coimbra Portugal

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach. (C) 2013 Elsevier B.V. All rights reserved.

关键词： intuitive robot programming CAD Off-line programming

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Hiding task-oriented programming complexity: an industrial case study

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2023年第11期36卷 1629-1648页

作者： Villagrossi, Enrico Delledonne, Michele Faroni, Marco Beschi, Manuel Pedrocchi, Nicola Natl Res Council Italy Inst Intelligent Ind Technol & Syst Adv Mfg Via A Corti 12 I-20133 Milan Italy Univ Brescia Dept Mech & Ind Engn Brescia Italy

The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past heritage, with robot programmers reluctant to adopt new programming paradigms. This work aims to evaluate the impact on non-expert users of introducing a new task-oriented programming interface that hides the complexity of a programming framework based on ROS. The paper compares the programming performance of such an interface with a classic robot-oriented programming method based on a state-of-the-art robot teach pendant. An experimental campaign involved 22 non-expert users working on the programming of two industrial tasks. Task-oriented and robot-oriented programming showed comparable learning time, programming time and the number of questions raised during the programming phases, highlighting the possibility of a smooth introduction to task-oriented programming even to non-expert users.

关键词： intuitive robot programming task-oriented programming human-machine interaction end-user robot programming

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A Multi-feature Augmented Reality-Based robot Control 32nd

A Multi-feature Augmented Reality-Based Robot Control

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31st International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Matour, Mohammad-Ehsan Winkler, Alexander Mittweida Univ Appl Sci Mittweida Germany

ISBN: (纸本)9783031326080;9783031326066;9783031326059

This paper presents an augmented reality-based interface that provides a set of tools needed for full control of a collaborative robot. A mixed reality head-mounted display (HMD) serves as an interface for the operator by superimposing virtual content, allowing interaction with the robotic system. In addition to providing robot state information, such as the joint position, velocity and the force applied to the robot flange, motion commands can also be sent to the robot, which significantly facilitates robot programming. In order to move the robot, the operator can either adjust the joint angles with the visualized sliders or simply drag a cursor that represents the position and orientation of the robot tool center point (TCP). Moreover, the proposed user interface (UI) allows the operator to preset the gripping force while the robot carries out hybrid force position control. Considering that the safety aspect should always be taken into account when moving the robot, the virtual model of the robot is also superimposed on the working environment so that the operator can perform a preview maneuver indicating the current and final position of each joint, before the motion is executed on the real system. The human-robot interface and virtual content are created on top of the Unity3D game engine, while the robot Operating System (ROS) provides reliable data transmission and processing between the HMD and the robot controller.

关键词： Augmented reality robot control intuitive robot programming Human robot interface Microsoft HoloLens

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A Method to Distinguish Potential Workplaces for Human-robot Collaboration 7th

A Method to Distinguish Potential Workplaces for Human-Robot...

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7th CIRP Conference on Assembly Technologies and Systems (CATS) - Intelligent Assembly Systems

作者： Blankemeyer, Sebastian Recker, Tobias Stuke, Tobias Brokmann, Jens Geese, Markus Reiniger, Michael Pischke, Dennis Oubari, Assem Raatz, Annika Leibniz Univ Hannover Inst Assembly Technol Univ 2 D-30823 Hannover Germany Weidmiiller Interface GmbH & Co KG Klingenbergstr 16 D-32758 Detmold Germany Leibniz Univ Hannover Inst Prod Syst & Logist Univ 2 D-30823 Hannover Germany

The high dynamics of globalized markets and their increase in competition, as well as the demographic changes in western countries causing an increasing shortage of skilled personnel are resulting in major challenges for production companies today. These challenges relate in particular to the processes of assembly forming the last process step in the value chain due to its high share of manual labor. Collaborative assembly, which is characterized by immediate interaction of humans and robots, utilizes the strengths of both partners and is seen as an opportunity to achieve a higher level of flexibility in assembly just as well to support and relieve people of for instance non-ergonomic tasks through automation at work. Although almost every robot manufacturer already has collaborative systems in its product portfolio, these are not yet widely used in industrial production. This might have a variety of reasons, such as the fear of a risky investment or the lack of expertise within the company related to collaborative systems. This article shows a conceptual method that helps companies implementing human-robot-collaboration in their production more quickly and with less implied risk, thus addressing the forthcoming challenges. As a first step, companies must be qualified to make a suitable selection for a possible collaboration scenario. To achieve this, they need a tool to analyze and to evaluate their production processes according to their suitability for human-robot-collaboration. An important feature for an easy and effective use is that the process is formalized so that employees of companies can quickly and easily analyze different processes. The necessary criteria and procedures are developed accordingly and are integrated into the selection method. The main goal is to give the company a recommendation which of their processes are most suitable for human-robot-collaboration, so that they can be used effectively in their production. (C) 2018 The Authors. Publish

关键词： augmented reality intuitive robot programming human-machine-interaction

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Using spatial context knowledge in gesture recognition for commanding a domestic service robot

Using spatial context knowledge in gesture recognition for c...

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11th IEEE International Workshop on robot and Human Interactive Communication (ROMAN 2000)

作者： Strobel, M Illmann, J Kluge, B Marrone, F Res Inst Appl Knowledge Proc FAW D-89081 Ulm Germany

ISBN: (纸本)0780375459

The use of human gestures for interacting with robot systems in domestic environments is investigated. Special attention is payed to the recognition of the user's intent behind a gestural action. The main advantage of our approach is that the human's movement together with valuable information extracted form a spatial scene representation is directly considered while trying to uncover the intention behind a human's gesture. To uncover the intention of dynamic human gestures we are using continious density hidden Markov models. As application example, instructing a domestic service robot is considered. An event driven control architecture permits easy context switching and meets the demands of an interactive robot assistant.

关键词： intuitive robot programming gesture recognition spatial modeling domestic service robot.

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