Experience with Collaborative Robots; Key Factors for Success - - PowerPoint PPT Presentation

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Experience with Collaborative Robots; Key Factors for Success - - PowerPoint PPT Presentation

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Fac acht htagung gung kolla ollabor borativ ive e Robot obotik ik 26. April 2017 ETH Hnggerberg, 8093 Zrich Experience with Collaborative Robots; Key Factors for Success Jean-Daniel Dessimoz HEIG-VD, Haute Ecole d'Ingnierie et de

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 1

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

Fac acht htagung gung kolla

  • llabor

borativ ive e Robot

  • botik

ik

  • 26. April 2017

ETH Hönggerberg, 8093 Zürich

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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…

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 2

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Content

  • Introduction
  • Experience with Collaborative Robotics
  • Key Factors for Success
  • Conclusion

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 3

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Content

  • Introduction
  • Experience with Collaborative Robotics
  • Key Factors for Success
  • Conclusion

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 4

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Experience with Collaborative Robotics

  • Industrial Robotics
  • Mobile Robotics
  • Automation
  • Piaget and Cognitics

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 5

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1 of 4

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 6

Stäubli, ABB, Bosch, Katana-Neuronics, Demaurex- Delta, (Kuka, Comau, Sysmélec, etc. )

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Cooperative Task with Vision and Industrial Robots

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 7

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2 of 4

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 8

Machine-based vision, motion planning, vocal dialogue, compliance, grasping, gesture control, security in open space, smart navigation, robot group, etc.

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 9

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 10

3 of 4 Machine-based vision, wireless monitoring, cloud and bluetooth-based access management, smartphone-based control by humans, etc.

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 11

4 of 4

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 12

PfC-Y :

Piaget-for-Cognitics

PfC-Y.populus.ch

Artificial cognitive systems (ACS) generate information; our Model for cognitive sciences (MCS) define core CS concepts.

τ / T

=

Dynamic and collective aspects « Sandbox 1 » for MCS

J.-D. Dessimoz, 17.4.2013

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Content

  • Introduction
  • Experience with Collaborative Robotics
  • Key Factors for Success
  • Conclusion

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 13

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Key Factors for Success

Overview

  • Success in robot-machine integration
  • Considerations in human interaction
  • Requirements for larger systems

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 14

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Key Factors for Success

Overview

  • Success in robot-machine integration
  • Considerations in human interaction
  • Requirements for larger systems

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 15

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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.

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 16

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Key Factors for Success

Overview

  • Success in robot-machine integration
  • Considerations in human interaction
  • Requirements for larger systems

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 17

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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)

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 18

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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/)

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 19

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Overview of some security measures for mobile robots in public places :

  • 1. The blue warning blinking light reflected
  • n 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 all motion would stop.

  • 5. Emergency stop mechanism (left arrow).

J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich

Key Factors for Success

  • e.g. about security 2 of 3,

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 20

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Key Factors for Success

  • e.g. about security 3 of 3 (re. emotions):

– monitoring for value changes, threats and opportunities

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 21

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Key Factors for Success

  • e.g. about global cycle time optimization:

– adapting complementary motions

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 22

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Key Factors for Success

Overview

  • Success in robot-machine integration
  • Considerations in human interaction
  • Requirements for larger systems

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 23

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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.)

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 24

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 25

Example – Internet protocol/Industrie 4.0

Chat-based, interactive robot control, as example of

  • pen access

application (re. video)

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Chat-based, interactive robot control, as example of open access application (video)

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 26

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Key Factors for Success

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 27

  • examples:

Dynamic and collective aspects

Smar mart Systems ems in in the he Real eal Wor

  • rld;

ld; and and Pia iaget get (cent

center er and and right ight)

)

« Sandbox 1 » for MCS

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);

Applica pplications ions

Example - Piaget

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 28

Example – ROS Industrial

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 29

Example – OPC UA

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 30

Example – Cognitive services 1 of 4

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 31

Example – Cognitive services 2 of 4

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 32

Example – Cognitive services 3 of 4

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26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 33

Example – Cognitive services 4 of 4

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Content

  • Introduction
  • Experience with Collaborative Robotics
  • Key Factors for Success
  • Conclusion

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 34

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Conclusion

  • Collaborative Robotics develop

– For domestic help (re. cognitics, Piaget, etc.) – and with industrial robots.

  • Factors for Success are numerous

– In robot-machine integration – With considerations for human interaction – And with special requirements for large systems

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 35

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http://lara.heig-vd.ch http://lara.populus.org/rub/3

Thank you for your attention!

26 April 2017 J.-D. Dessimoz, HESSO.HEIG-VD, Fachtagung kollaborative Robotik, ETH Zürich 36

Fac acht htagung gung kolla

  • llabor

borativ ive e Robot

  • botik

ik

  • 26. April 2017

ETH Hönggerberg, 8093 Zürich