Fac acht htagung gung kolla ollabor borativ ive e Robot obotik ik 26. April 2017 ETH Hönggerberg, 8093 Zürich Experience with Collaborative Robots; Key Factors for Success Jean-Daniel Dessimoz HEIG-VD, Haute Ecole d'Ingénierie et de Gestion HES-SO, Western Switzerland University of Applied Sciences and Arts Yverdon-les-Bains, Switzerland Jean-Daniel.Dessimoz@Heig-VD.ch http://lara.populus.org/rub/3 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 1 26 April 2017
Introduction • Robots get closer to humans • Many successes for industrial robotics, progressing since 1960’s… • …but traditionnally kept in work areas separate from space open to humans • Now additional benefits can be gained with lmmediate vicinity and better human-robot cooperation • The plan of the talk follows… J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 2 26 April 2017
Content • Introduction • Experience with Collaborative Robotics • Key Factors for Success • Conclusion J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 3 26 April 2017
Content • Introduction • Experience with Collaborative Robotics • Key Factors for Success • Conclusion J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 4 26 April 2017
Experience with Collaborative Robotics • Industrial Robotics • Mobile Robotics • Automation • Piaget and Cognitics J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 5 26 April 2017
1 of 4 Stäubli, ABB, Bosch, Katana-Neuronics, Demaurex- Delta, (Kuka, Comau, Sysmélec, etc. ) J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 6 26 April 2017
Cooperative Task with Vision and Industrial Robots J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 7 26 April 2017
2 of 4 Machine-based vision, motion planning, vocal dialogue, compliance, grasping, gesture control, security in open space, smart navigation, robot group, etc. J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 8 26 April 2017
J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 9 26 April 2017
3 of 4 Machine-based vision, wireless monitoring, cloud and bluetooth-based access management, smartphone-based control by humans, etc. J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 10 26 April 2017
4 of 4 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 11 26 April 2017
PfC-Y.populus.ch PfC-Y : Piaget-for-Cognitics J.-D. Dessimoz, 17.4.2013 Artificial cognitive systems (ACS) generate information; our Model for cognitive sciences (MCS) define core CS concepts. = τ / T « Sandbox 1 » for MCS Dynamic and collective aspects 26 April 2017 12 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich
Content • Introduction • Experience with Collaborative Robotics • Key Factors for Success • Conclusion J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 13 26 April 2017
Key Factors for Success Overview • Success in robot-machine integration • Considerations in human interaction • Requirements for larger systems J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 14 26 April 2017
Key Factors for Success Overview • Success in robot-machine integration • Considerations in human interaction • Requirements for larger systems J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 15 26 April 2017
Key Factors for Success • Success in robot-machine integration implies – standard communication channels – « open » protocols, – appropriate engineering of time and stability properties, – flexible allocation of reference role and priorities. J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 16 26 April 2017
Key Factors for Success Overview • Success in robot-machine integration • Considerations in human interaction • Requirements for larger systems J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 17 26 April 2017
Key Factors for Success • Considering human interaction, additional constraints appear: – size and kinematics, – communication channels and culture, – security (re. forces, shocks; momentum; softness; protective, inward motions), – impromptu changes of strategies (re. emotions), – boosting opportunities (e.g. global cycle time optimization) J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 18 26 April 2017
Key Factors for Success • e.g. about security 1 of 3, protective, inward motions: – low speed in peripheral regions, like cycloid, – https://www.pinterest.com/permamath/math-courbes-planes/ ) J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 19 26 April 2017
Key Factors for Success • e.g. about security 2 of 3, Overview of some security measures for mobile robots in public places : 1. The blue warning blinking light reflected on the legs of the guide (arrow on the right). 2. If a wheel is blocked, the other wheel gets stopped in a properly coordinated way (lower arrow). 3. The unidirectional blocking capability is also active (same lower arrow). 4. In principle, the top circle illustrates the concept of the maximal radius of influence; in fact, the effective circle at that very moment is larger than drawn. It must encompass the guide, otherwise J.-D. Dessimoz, HESSO.HEIG-VD, all motion would stop. Fachtagung kollaborative Robotik, ETH Zürich 5. Emergency stop mechanism (left arrow). J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 20 26 April 2017
Key Factors for Success • e.g. about security 3 of 3 (re. emotions): – monitoring for value changes, threats and opportunities J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 21 26 April 2017
Key Factors for Success • e.g. about global cycle time optimization: – adapting complementary motions J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 22 26 April 2017
Key Factors for Success Overview • Success in robot-machine integration • Considerations in human interaction • Requirements for larger systems J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 23 26 April 2017
Key Factors for Success • As system scope increases, requirements get tougher – computer-based integration; resources for development, programming, and real-time control – as well as for cognitive, intelligent aspects – re. Piaget, ROS-industrial, OPC-UA or cloud-based cognitive services (IBM, Google, Microsoft et al.) J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 24 26 April 2017
Example – Internet protocol/Industrie 4.0 Chat-based, interactive robot control , as example of open access application (re. video ) J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 25 26 April 2017
Chat-based, interactive robot control, as example of open access application (video) J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 26 26 April 2017
Example - Piaget Key Factors for Success « Sandbox 1 » for MCS Dynamic and collective aspects • examples: 12: if(!SignalIn(NSIStart)) GoState(6); else GoSTate(20); break;case 20: ApproAGN(Table,30); break;case //Switch light on 21: SignalOutAGN(NSOLamp,true) break;case 22: SleepAGN(0.05); break:case //Visual analysis of a row in scene 23: WatchRowAGN(R,CStart,Cstop); Smar mart Systems ems in in the he Real eal Wor orld; ld; and and Pia iaget get ( cent ight ) ) center er and and right Applica pplications ions J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 27 26 April 2017
Example – ROS Industrial J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 28 26 April 2017
Example – OPC UA J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 29 26 April 2017
Example – Cognitive services 1 of 4 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 30 26 April 2017
Example – Cognitive services 2 of 4 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 31 26 April 2017
Example – Cognitive services 3 of 4 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 32 26 April 2017
Example – Cognitive services 4 of 4 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 33 26 April 2017
Content • Introduction • Experience with Collaborative Robotics • Key Factors for Success • Conclusion J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 34 26 April 2017
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