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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 robot programming Using Augmented Reality 7th

Intuitive Robot Programming Using Augmented Reality

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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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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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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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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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Evaluating Task Optimization and Reinforcement Learning Models in robotic Task Parameterization

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IEEE ACCESS 2024年 12卷 173734-173748页

作者： Delledonne, Michele Villagrossi, Enrico Beschi, Manuel Rastegarpanah, Alireza Natl Res Council Italy Inst Intelligent Ind Technol & Syst Adv Mfg I-20133 Milan Italy Univ Brescia Dept Mech & Ind Engn I-25123 Brescia Italy Univ Birmingham Sch Met & Mat Birmingham B15 2TT England

The rapid evolution of industrial robot hardware has created a technological gap with software, limiting its adoption. The software solutions proposed in recent years have yet to meet the industrial sector's requirements, as they focus more on the definition of task structure than the definition and tuning of its execution parameters. A framework for task parameter optimization was developed to address this gap. It breaks down the task using a modular structure, allowing the task optimization piece by piece. The optimization is performed with a dedicated hill-climbing algorithm. This paper revisits the framework by proposing an alternative approach that replaces the algorithmic component with reinforcement learning (RL) models. Five RL models are proposed with increasing complexity and efficiency. A comparative analysis of the traditional algorithm and RL models is presented, highlighting efficiency, flexibility, and usability. The results demonstrate that although RL models improve task optimization efficiency by 95%, they still need more flexibility. However, the nature of these models provides significant opportunities for future advancements.

关键词： robots Optimization programming Reinforcement learning Service robots Artificial intelligence robot sensing systems Software Mathematical models Libraries robotic task optimization task-oriented programming intuitive robot programming

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Large Language Model for Assisted robot programming in Micro-Assembly

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Procedia CIRP 2024年 130卷 244-249页

作者： Rolf Wiemann Niklas Terei Annika Raatz Leibniz University Hanover Insitut of Assembly Technology and Industry Robotics An der Universität 30823 Garbsen Germany Cluster of Excellence PhoenixD (Photonics Optics and Engineering – Innovation Across Disciplines) Hanover Germany

In the context of the rapid development of micro-devices and photonics, the importance of efficient automation solutions is becoming increasingly important. The automation of assembly processes in particular is a decisive factor, as assembly is responsible for a large proportion of costs. The programming of robots, particularly in the field of micro-assembly, requires extensive specialist knowledge due to the complexity of the assembly systems and processes. Increasingly more powerful large language models (LLMs) enable their use in robot programming. These allow interaction through natural language, providing an intuitive user interface. In this work, we utilize a LLM to assist users in programming new micro-assembly processes. We develop an assistant that we integrate into a robot Operating System 2 (ROS2) framework. This framework enables the control and programming of a micro-assembly robot via ROS2 services. The assistant has access to these services and information about the components. Based on user requests, the assistant can parameterize these services and arrange them sequentially according to the assembly task. The assembly sequence can subsequently be modified by the user, either by using the assistant again or manually. We test the performance of the developed assistant using example tasks and demonstrate that, particularly, shorter sequences can be reliably generated. Finally, we present potential improvements and extensions of the application.

关键词： Large Language Models intuitive robot programming Micro-Assembly ROS2

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Online task segmentation by merging symbolic and data-driven skill recognition during kinesthetic teaching?

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robotICS AND AUTONOMOUS SYSTEMS 2023年 162卷

作者： Eiband, Thomas Liebl, Johanna Willibald, Christoph Lee, Dongheui German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany TU Wien Autonomous Syst A-1040 Vienna Austria

programming by Demonstration (PbD) is used to transfer a task from a human teacher to a robot, where it is of high interest to understand the underlying structure of what has been demonstrated. Such a demonstrated task can be represented as a sequence of so-called actions or skills. This work focuses on the recognition part of the task transfer. We propose a framework that recognizes skills online during a kinesthetic demonstration by means of position and force-torque (wrench) sensing. Therefore, our framework works independently of visual perception. The recognized skill sequence constitutes a task representation that lets the user intuitively understand what the robot has learned. The skill recognition algorithm combines symbolic skill segmentation, which makes use of pre- and post-conditions, and data-driven prediction, which uses support vector machines for skill classification. This combines the advantages of both techniques, which is inexpensive evaluation of symbols and usage of data-driven classification of complex observations. The framework is thus able to detect a larger variety of skills, such as manipulation and force-based skills that can be used in assembly tasks. The applicability of our framework is proven in a user study that achieves a 96% accuracy in the online skill recognition capabilities and highlights the benefits of the generated task representation in comparison to a baseline representation. The results show that the task load could be reduced, trust and explainability could be increased, and, that the users were able to debug the robot program using the generated task representation. (c) 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).

关键词： Learning from demonstration programming by demonstration robot Symbolic Subsymbolic Task segmentation Action segmentation Skill recognition Task representation Interactive robot programming intuitive robot programming Tactile Online segmentation Kinesthetic teaching Force-based

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An Augmented Reality Framework for robotic Tool-path Teaching

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Procedia CIRP 2020年 93卷 1218-1223页

作者： Sonia Mary Chacko Armando Granado Vikram Kapila Department of Mechanical and Aerospace Engineering NYU Tandon School of Engineering Brooklyn NY 11201 USA

robot manipulators are widely used in industries to automate myriad operations. To address the demand shifts in industries, automated systems such as robots must flexibly adapt in response. Such dynamics often necessitate end-users to reprogram robots to meet the changing industry needs. This leads to a demand for experienced programmers, familiar with proprietary robot software. As one alternative, an augmented reality (AR) framework can offer a user-friendly solution that permits end-users to reprogram robots without any domain expertise. This paper presents an AR teaching (ART) methodology that allows end-users to program varied manipulators in an intuitive and effortless manner for tool-path teaching. The ART method is contrasted with an alternative kinesthetic teaching method for its performance and user experience. Results show that the ART method yields a convenient and time-efficient teaching method and it is recommended by users over the kinesthetic teaching method.

关键词： Augmented/mixed reality human-robot interaction user interface design intuitive robot programming

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