Post on 09-Aug-2020
Industrial automation, communication and data management
Collaborative roboticsProf. Paolo Rocco (paolo.rocco@polimi.it)Politecnico di MilanoDipartimento di Elettronica, Informazione e Bioingegneria
IACDM – Collaborative robotics – Paolo Rocco
Source: Universal Robots
Collaborative robotics
IACDM – Collaborative robotics – Paolo Rocco
Humans and robots collaborating at the same task
Protective fences are not needed
Particularly interesting for SMEs (reduced cost, reduced foot print)
Source: KUKA
Collaborative robotics (1/3)
IACDM – Collaborative robotics – Paolo Rocco
Redundant, dual arm manipulators, characterized by low inertia and low payload (reduced risk when impact)
Still good precision available Good potential for assembly of
electronic parts
Source: ABB
Collaborative robotics (2/3)
IACDM – Collaborative robotics – Paolo Rocco
New programming interfaces Decrease of the deployment
time High potential for SMEs
Source: Universal Robots
Collaborative robotics (3/3)
IACDM – Collaborative robotics – Paolo Rocco
Source: A.M. Zanchettin
Why human-robot collaboration?
IACDM – Collaborative robotics – Paolo Rocco
Source: ABB Corporate Research
Collaborative assembly
IACDM – Collaborative robotics – Paolo Rocco
2000 20172000 2002 2004 2006 2008 2010 2012 2014 2016
1960 - 2000Industrial robots are separated from humans; they requires significant investments and programming skills
2000The world cobot enters the dictionarycobot: noun. A collaborative robot designed to help workers on the job instead of replacing them. Source: Wall Street Journal, Jan 2000
2005Universal Robots is founded in Denmark to develop an affordable, low-cost collaborative robotUR5 was launched in 2008 and certified by TUV in 2014
2012Rethink Robotics is founded and launches Baxter
2015ABB launches YuMi and acquires Gomtec
2016ISO sets a new standard for cobots
2013KUKA launches LBR iiwa
Source: A.M. Zanchettin
A bit of history of collaborative robotics
IACDM – Collaborative robotics – Paolo Rocco
Collaborative robots have no (or reduced) physical protection devices to allow the human operator to directly interact with them.
The limited need of safeguarding devices allows a smaller footprint, making cobots more affordable, especially for SMEs, as compared with traditional industrial robots.
Cost breakdown of a robotic station
Installation costs of cobots
IACDM – Collaborative robotics – Paolo Rocco
ABI Research, Marker report on collaborative robotics, 2015
Market of the cobots
IACDM – Collaborative robotics – Paolo Rocco
Robots are key components in the manufacturing of Industry 4.0 Integration of machinery, warehousing systems and production facilities
as Cyber-Physical systems Flexibility, cost effectiveness and productivity in smart factories
Source: Bosch
Industry 4.0
IACDM – Collaborative robotics – Paolo Rocco
Robots doing the same task connect across all global locations so performance can be compared and improved at the click of a button
Self-optimizing production Self-programming robots
Robots automatically download what they need to get started from a cloud library and then start to optimize through “self-learning” Source: IFR
Industry 4.0
IACDM – Collaborative robotics – Paolo Rocco
Robots are connected to the cloud and diagnostics information, alarm information, maintenance information, can be collected and used for predictive maintenance
Predictive maintenance
Source: FANUC
Industry 4.0
IACDM – Collaborative robotics – Paolo Rocco
From robots to cobots
IACDM – Collaborative robotics – Paolo Rocco
This robot is safe However it is not
collaborative How can we guarantee
safety while allowing for collaboration?
Safety
IACDM – Collaborative robotics – Paolo Rocco
Source: A.M. Zanchettin
Safety standards for robotics
IACDM – Collaborative robotics – Paolo Rocco
Collaborative operation ISO 10218-1:2011, clause 3.4 State in which purposely
designed robots work in direct cooperation with a human within a defined workspace
Collaborative workspace ISO 10218-1:2011, clause 3.5 Workspace within the
safeguarded space where the robot and a human can perform tasks simultaneously during production operationSource: ABB Corporate Research
Safety standards: definitions
IACDM – Collaborative robotics – Paolo Rocco
Source: ABB Corporate Research
Types of collaborative operations
IACDM – Collaborative robotics – Paolo Rocco
https://www.youtube.com/watch?v=jzR5NZrZSu0
Hand guiding
IACDM – Collaborative robotics – Paolo Rocco
https://www.youtube.com/watch?v=Z7DgzHC9e9E
Speed and separation monitoring
IACDM – Collaborative robotics – Paolo Rocco
It is the safety standard that qualifies what we actually call cobots
The risk reduction is obtained by limiting the mechanical loading of human-body parts when moving parts of robot, end-effector or work piece
This is achieved with low inertia, suitable geometry and material, sensory input, control functions, …
Source: ABB Corporate Research
Power and force limiting
IACDM – Collaborative robotics – Paolo Rocco
The robot is simply a component in a final collaborative robot system and is not in itself sufficient for a safe collaborative operation. The collaborative operation applications are dynamic and shall be determined by the risk assessment performed during the application system design.
Robot as an element in the collaborative station
IACDM – Collaborative robotics – Paolo Rocco
Cobots as assistive fellow co-workers
There are many examples of operations with poor ergonomics.A collaborative robot might support the operator as an autonomous positioner of the workpiece in order to increase the ergonomics of the workstation
IACDM – Collaborative robotics – Paolo Rocco
IRB 140
Kinect KinectXtion
Ergonomic and safe human robot-interaction
Cobots as assistive fellow co-workers
IACDM – Collaborative robotics – Paolo Rocco
Cobots as assistive fellow co-workers
Through a vision system, the robot is able to track the position of the operator (based on his shoulders) and evaluate the best positioning of the workpiece that minimize the risk of musculoskeletal disorders.
IACDM – Collaborative robotics – Paolo Rocco
Cobots as intelligent fellow co-workers
Through a vision system the robot is able to infer the intention of the human operator and decide the most convenient action to perform according to the collaborative task.
Vision system
IACDM – Collaborative robotics – Paolo Rocco
Collaborative operation
Link to the video: https://www.youtube.com/watch?v=P1p1-hejjaQ
IACDM – Collaborative robotics – Paolo Rocco
Prediction of activity patterns
The robot perceives the human and predicts when assistance is needed. In the meanwhile, it keeps doing its job. As a result, the robot is always ready to help, and productivity is maximized.
Prediction of activity patterns
assemble
pick
???
Link to the video: https://www.youtube.com/watch?v=yHK2vXf0mrk
IACDM – Collaborative robotics – Paolo Rocco
Prediction of activity patterns
Cycle time is reduced by 20%
IACDM – Collaborative robotics – Paolo Rocco
A collaborative assembly