The introduction of collaborative robots in the industry requires new training methods. Users without experience in collaborative tasks with robots present insecurity at the beginning, reducing their productivity until they become familiar with this type of process. To address this problem the training method must take place in an environment where the user feels comfortable working with the cobot to overcome the insecurities. This thesis aims at defining a training method for users to get used to working with collaborative robots. The method covers every kind of robot and task. In addition, this research looks for a training that takes place outside the production line so as not to affect the productivity of the plant.
The document presents the background of training methods in the industry and new trends in this field such as virtual reality and the evolution of interactions with robots. A patent landscape is included to evaluate the current situation in the investigation and development of these fields.
This thesis work proposes an interactive and immersive virtual reality training based on WebGL. It consists on a simulation where the operator interacts in real time with a cobot executing a collaborative task. By using WebGL you can access the simulation directly from the browser and without restrictions in the virtual reality equipment. The scenario presents the assembly of a box in collaboration with the YuMi cobot of ABB. The tools, models and techniques used for the implementation are described. Taking advantage of the properties of virtual reality to facilitate the learning of the task, the simulation offers a user assistance system that is explained in detail.
This method has been tested in a group of student engineers who performed the simulation in order to evaluate the effectiveness of this proposal to help operators in their learning of collaborative tasks. The results show a greater acceptance and confidence of the users to perform the task with the cobot after the simulation while they learnt the entire process of the task.
It is concluded therefore with this thesis that the proposed method is valid for user training in collaborative tasks. It is hoped that this work will serve as a basis for future research in the incorporation of WebGL and virtual reality in the training of industrial processes
