Enhancing fluency and productivity in human-robot collaboration through online scaling of dynamic safety zones

Industrial collaborative robotics is promising for manufacturing activities where the presence of a robot alongside a human operator can improve operator’s working conditions, flexibility, and productivity. A collaborative robotic application has to guarantee not only safety of the human operator, but also fluency in the collaboration, as well as performance in terms of productivity and task time. In this paper, we present an approach to enhance fluency and productivity in human-robot collaboration through online scaling of dynamic safety zones. A supervisory controller runs online safety checks between bounding volumes enclosing robot and human to identify possible collision dangers. To optimize the sizes of safety zones enclosing the manipulator, the method minimizes the time of potential stop trajectories considering the robot dynamics and its torque constraints, and leverages the directed speed of the robot parts with respect to the human. Simulations and experimental tests on a seven-degree-of-freedom robotic arm verify the effectiveness of the proposed approach, and collaborative fluency metrics show the benefits of the method with respect to existing approaches

Computer Simulation of Human-Robot Collaboration in the Context of Industry Revolution 4.0

The essential role of robot simulation for industrial robots, in particular the collaborative robots is presented in this chapter. We begin by discussing the robot utilization in the industry which includes mobile robots, arm robots, and humanoid robots. The author emphasizes the application of collaborative robots in regard to industry revolution 4.0. Then, we present how the collaborative robot utilization in the industry can be achieved through computer simulation by means of virtual robots in simulated environments. The robot simulation presented here is based on open dynamic engine (ODE) using anyKode Marilou. The author surveys on the use of dynamic simulations in application of collaborative robots toward industry 4.0. Due to the challenging problems which related to humanoid robots for collaborative robots and behavior in human-robot collaboration, the use of robot simulation may open the opportunities in collaborative robotic research in the context of industry 4.0. As developing a real collaborative robot is still expensive and time-consuming, while accessing commercial collaborative robots is relatively limited; thus, the development of robot simulation can be an option for collaborative robotic research and education purposes

Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots

textA novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.Mechanical Engineerin

Improving human-robot interactivity for tele-operated industrial and service robot applications

In industrial robotics applications, teach pendant has been widely used by human operators to pre-define action trajectories for robot manipulators to execute as primitives. This hard-coding approach is only good for low-mix-highvolume jobs with sparse trajectory way-points. In this paper, we present a novel industrial robotic system designed for applications where human-robot interaction is key for efficient execution of actions such as high-mix-low-volume jobs. The proposed system comprises a robot manipulator that controls a tool (such as a soldering iron) to interact with the required workpiece, a networking server for remote tele-operation, and an integrated user interface that allows the human operator to better perceive the remote operation and to execute actions with greater ease. A user study is conducted to understand the merits of the proposed system. Results indicate that human can operate the system with ease and complete tasks more quickly and that the system can improve application efficiency

Safe navigation and human-robot interaction in assistant robotic applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Occupational health and safety issues in human-robot collaboration: State of the art and open challenges

Human-Robot Collaboration (HRC) refers to the interaction of workers and robots in a shared workspace. Owing to the integration of the industrial automation strengths with the inimitable cognitive capabilities of humans, HRC is paramount to move towards advanced and sustainable production systems. Although the overall safety of collaborative robotics has increased over time, further research efforts are needed to allow humans to operate alongside robots, with awareness and trust. Numerous safety concerns are open, and either new or enhanced technical, procedural and organizational measures have to be investigated to design and implement inherently safe and ergonomic automation solutions, aligning the systems performance and the human safety. Therefore, a bibliometric analysis and a literature review are carried out in the present paper to provide a comprehensive overview of Occupational Health and Safety (OHS) issues in HRC. As a result, the most researched topics and application areas, and the possible future lines of research are identified. Reviewed articles stress the central role played by humans during collaboration, underlining the need to integrate the human factor in the hazard analysis and risk assessment. Human-centered design and cognitive engineering principles also require further investigations to increase the worker acceptance and trust during collaboration. Deepened studies are compulsory in the healthcare sector, to investigate the social and ethical implications of HRC. Whatever the application context is, the implementation of more and more advanced technologies is fundamental to overcome the current HRC safety concerns, designing low-risk HRC systems while ensuring the system productivity

JSC flight experiment recommendation in support of Space Station robotic operations

The man-tended configuration (MTC) of Space Station Freedom (SSF) provides a unique opportunity to move robotic systems from the laboratory into the mainstream space program. Restricted crew access due to the Shuttle's flight rate, as well as constrained on-orbit stay time, reduces the productivity of a facility dependent on astronauts to perform useful work. A natural tendency toward robotics to perform maintenance and routine tasks will be seen in efforts to increase SSF usefulness. This tendency will provide the foothold for deploying space robots. This paper outlines a flight experiment that will capitalize on the investment in robotic technology made by NASA over the past ten years. The flight experiment described herein provides the technology demonstration necessary for taking advantage of the expected opportunity at MTC. As a context to this flight experiment, a broader view of the strategy developed at the JSC is required. The JSC is building toward MTC by developing a ground-based SSF emulation funded jointly by internal funds, NASA/Code R, and NASA/Code M. The purpose of this ground-based Station is to provide a platform whereby technology originally developed at JPL, LaRC, and GSFC can be integrated into a near flight-like condition. For instance, the Automated Robotic Maintenance of Space Station (ARMSS) project integrates flat targets, surface inspection, and other JPL technologies into a Station analogy for evaluation. Also, ARMSS provides the experimental platform for the Capaciflector from GSPC to be evaluated for its usefulness in performing ORU change out or other tasks where proximity detection is required. The use and enhancement of these ground-based SSF models are planned for use through FY-93. The experimental data gathered from tests in these facilities will provide the basis for the technology content of the proposed flight experiment

The NASA/OAST telerobot testbed architecture

Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented

Desenvolvimento de equipamento de manipulação de objectos deformáveis e a sua interacção com uma máquina de injecção de plásticos

In this project, our objective was to thoroughly investigate the feasibility of automating a process at Ficocables by integrating a robotic arm. Specifically, we focused on automating the joining of two separate processes while eliminating the need for manual intervention in the second operation. The equipment involved in the process includes a Roboco Zamak injection machine and a Babyplast polymer injection machine. With well-defined project requirements, we explored various solutions and sought guidance from Fluidotronica, a renowned expert in this domain. With their support, we identified the collaborative robot JAKA Zu 3s, equipped with a long-finger gripper, as the optimal solution for our needs. To assess the financial viability, we conducted a meticulous financial analysis using methods like NPV and payback period, both of which demonstrated promising results. Although the implementation of the robotic arm is still pending, the outcomes of our study highlight its remarkable versatility for future applications within Ficocables. This project exemplifies the potential advantages of automation and offers valuable insights for forthcoming initiatives in this field.Neste projeto, o objetivo era investigar exaustivamente a viabilidade de automatizar um processo na Ficocables através da integração de um braço robótico. Especificamente, concentrámo-nos em automatizar a junção de dois processos separados, eliminando a necessidade de intervenção manual na segunda operação. O equipamento envolvido no processo inclui uma máquina de injeção de Zamak, denominada Robocop e uma máquina de injeção de polímero denominada Babyplast. Com os requisitos de projeto bem definidos, explorámos várias soluções e procurámos orientação junto da Fluidotronica, um especialista de renome neste domínio. Com o seu apoio, identificámos o robô colaborativo JAKA Zu 3s, equipado com uma pinça de dedos longos como a solução ideal para as necessidades deste projeto. Para avaliar a viabilidade financeira, efetuou-se uma análise financeira meticulosa utilizando métodos como o NPV e o período de retorno do investimento, tendo ambos demonstrado resultados promissores. Embora a implementação do braço robótico ainda esteja pendente, os resultados do nosso estudo destacam a sua notável versatilidade para futuras aplicações na Ficocables. Este projeto exemplifica as vantagens potenciais da automatização e oferece uma visão valiosa para iniciativas futuras neste domínio