Intelligent and Autonomous Robot Systems Development of a wireless - - PowerPoint PPT Presentation

▶
intelligent and autonomous robot systems
SMART_READER_LITE
LIVE PREVIEW

Intelligent and Autonomous Robot Systems Development of a wireless - - PowerPoint PPT Presentation

Jan 07, 2024 334 likes •580 views

from research . to market Intelligent and Autonomous Robot Systems Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples Claudio Cenati Milano, February 2015 Development of a

slide-1
SLIDE 1

from research .… to market

Intelligent and Autonomous Robot Systems

Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples Claudio Cenati

Milano, February 2015

slide-2
SLIDE 2

Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples

  • 1. ITIA-CNR Short Introduction
  • 2. ITIA-CNR transfer technology model
  • 3. 3 successful cases
slide-3
SLIDE 3

Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples

  • 1. ITIA-CNR Short Introduction
  • 2. ITIA-CNR transfer technology model
  • 3. 3 successful cases
slide-4
SLIDE 4

ITIA is part of the DIITET, Department for Engineering, ICT, Energy and Transportation Technologies

  • f CNR

110 People 90 Researchers Production Systems Factory Automation Robotics

slide-5
SLIDE 5

ITIA-CNR: Facts & figures

slide-6
SLIDE 6

ITIA-CNR: RTD&I units

slide-7
SLIDE 7

Principal Investigator

  • L. Molinari Tosatti

IRAS: Facts & figures

25 people

  • 1 Senior Researcher
  • 8 Researcher
  • 1 Post-doc
  • 12 Fellow Researchers

(6 PhD students)

  • 2 Technicians
  • MS (<5)

Labs

  • 1 shopfloor
  • 1 pilot plant for the de/re-manufacturing of mechatronic device
  • 1 laboratory for the development of sensors and devices
  • 1 laboratory for the testing of special prototypes (now a multi-robot

system for neuro-surgical application is installed)

  • 1 laboratory @ Università degli Studi di Brescia
  • 1 laboratory @ Villa Beretta Hospital (Rehabilitation Robotics)

EU Projects (ongoing)

  • H2020-FourByThree
  • FP7 - FlexiCAST
  • FP7 - ACTIVE
  • FP7 - ENEPLAN
  • FP7 - RampCo
  • LinArm++

(ECHORD++ exp.)

  • FP7 - EuRoC

Industrial Contracts: 170k€/year

  • Tot. Fund raising: 860k€/year

Italian Projects:

  • Progetto FdF
  • Pro2Evo
  • FACTOTHUMS
  • FIDEAS
  • Riprendo
  • Cluster-FI
  • HAF
  • Think&go
slide-8
SLIDE 8

Principal Investigator

IRAS: Main activities

sensors monitoring devices Industrial controllers modeling & control of robot-based industrial processes robot systems safety human-robot interaction Robotics & interactive systems for rehabilitation civil & aerospace applications

1. Coding and Software Engineering 2. Sensors and Devices 3. Planning and Control 4. Safe Human-Robot Interaction 5. Medical Robotics

  • L. Molinari Tosatti
slide-9
SLIDE 9

Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples

  • 1. ITIA-CNR Short Introduction
  • 2. ITIA-CNR transfer technology model
  • 3. 3 successful cases
slide-10
SLIDE 10

ITIA-CNR technology transfer model

slide-11
SLIDE 11

ITIA-CNR technology transfer model

slide-12
SLIDE 12

Terms:

  • Patent right selling
  • Identification of the patent economic value
  • Inventor protection strategies
  • Definition of a royalties fee based policy for each item sold
  • Definition of a royalties fee based policy for each item integrated

into a commercial product ITIA-CNR technology transfer model

slide-13
SLIDE 13

ITIA-CNR technology transfer model

slide-14
SLIDE 14

ITIA-CNR technology transfer model

slide-15
SLIDE 15

ITIA-CNR technology transfer model

slide-16
SLIDE 16

Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples

  • 1. CNR-ITIA Short Introduction
  • 2. ITIA transfer technology model
  • 3. 3 successful cases
slide-17
SLIDE 17

CASE N1: MANUAL GUIDANCE DEVICE

The IDEA started during SMErobot™ Project SMErobot™ was an Integrated Project within the 6th Framework Programme of the EC to create a new family of SME-suitable robots and to exploit its potentials for competitive SME manufacturing (March 2005 - May 2009). Research and development in SMErobot™ is geared towards creating the following technical innovations:

  • Robot capable of understanding human-like instructions (by voice,

gesture, graphics)

  • Safe and productive human-aware space-sharing robot (cooperative,

no fences)

  • Three-day-deployable integrated robot system (modular plug-and-

produce components)

STEP 1 – Investigation

slide-18
SLIDE 18

CASE N1: MANUAL GUIDANCA DEVICE

low cost plug and play device wireless communication

sensitivity selector show actual pose manual guidance state monitor translation/rotation selector lock movement type selector start the program

Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..) …..

path debug step front / step back monitor

user ad-hoc interface for the post processing

USER

ROBOT

slide-19
SLIDE 19

CASE N1: MANUAL GUIDANCA DEVICE

STEP 2 – Pre-industrial prototype

Research on:

  • Investigation of MANUAL GUIDANCE

using FORCE SENSOR

  • Investigation of SENSOR-LESS cartesian/joint

MANUAL GUIDANCE

  • First concept for High Level Programming

Results:

  • Implementation on COMAU Controller C++
  • Implementation of SENSOR-LESS Cartesian/joint

MANUAL GUIDANCE

EXPERIMENTS PERFORMED USING COMAU ROBOT @ COMAU LABS

sensitivity selector show actual pose manual guidance state monitor translation/rotation selector lock movement type selector start the program

Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..) …..

path debug step front / step back monitor

slide-20
SLIDE 20

CASE N1: MANUAL GUIDANCA DEVICE

STEP 3 – Pre-industrialization

Research on:

  • Investigation of alternative methods for MANUAL GUIDANCE

based on 6D OPTICAL SENSOR MOUSE

  • Investigation of wireless connection with robot controller

Results:

  • Implementation on COMAU Controller C++
  • Implementation of a wired device based on 6D Optical

sensor mouse with on board processing electronics

  • First HMI Implementation on Special Teach Pendant

Special Teach Pendant 6D OPTICAL MOUSE

slide-21
SLIDE 21

CASE N1: MANUAL GUIDANCA DEVICE

M G D

:-)

. Wireless teach pendant . User interface for EASY and INTUITIVE PROGRAMMING . Bluetooth communication channel . Embedded 6DOF optical device . Linux-Xenomai . Bluetooth communication

RESULT

MANUAL GUIDANCE DEVICE WIRLESS Patent No. 08425778.1 2206 Year 2009

STEP 3 - Industrialization

slide-22
SLIDE 22

CASE N 2: ROBOT SCULPTOR

A laser scanner integration in a robot cell for small batch production of sculpture artworks Laser scanner 3D for:

  • Complex surfaces of statues extraction
  • Model digitalization

Robot for

  • Handling the laser scanner
  • Rapid prototyping for small

batch series production SCANNER ON ROBOT CALIBRATION PROCEDURE Patent No. TO2010A000638 Year 2010

slide-23
SLIDE 23

CASE N 3: LASER CUTTING CONTROL

Implementation of a method for controlling a laser cutting process and a laser cutting system. METHOD IMPLEMENTED Patent No. WO 2012/143899 A1 Year 2012

slide-24
SLIDE 24

from research .… to market

Intelligent and Autonomous Robot Systems

Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples Claudio Cenati

Milano, February 2015