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 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
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
ITIA is part of the DIITET, Department for Engineering, 110 ICT, Energy People and Transportation 90 Technologies Researchers of CNR Production Systems Factory Automation Robotics
ITIA-CNR: Facts & figures
ITIA-CNR: RTD&I units
IRAS: Facts & figures 25 people EU Projects (ongoing) Italian Projects: 1 Senior Researcher H2020-FourByThree Progetto FdF 8 Researcher FP7 - FlexiCAST Pro2Evo 1 Post-doc FP7 - ACTIVE FACTOTHUMS 12 Fellow Researchers FP7 - ENEPLAN FIDEAS (6 PhD students) FP7 - RampCo Riprendo 2 Technicians LinArm++ Cluster-FI MS (<5) (ECHORD++ exp.) HAF FP7 - EuRoC Think&go Industrial Contracts : 170k € /year Tot. Fund raising: 860k € /year Labs Principal - 1 shopfloor Investigator - 1 pilot plant for the de/re-manufacturing of mechatronic device - 1 laboratory for the development of sensors and devices L. Molinari Tosatti - 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)
IRAS: Main activities sensors monitoring devices Industrial controllers modeling & control of robot-based industrial 1. Coding and Software Engineering processes 2. Sensors and Devices robot systems 3. Planning and Control safety human-robot 4. Safe Human-Robot Interaction interaction 5. Medical Robotics Robotics & Principal interactive Investigator systems for rehabilitation L. Molinari Tosatti civil & aerospace applications
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
ITIA-CNR technology transfer model
ITIA-CNR technology transfer model
ITIA-CNR technology transfer model 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
ITIA-CNR technology transfer model
ITIA-CNR technology transfer model
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
CASE N1: MANUAL GUIDANCE DEVICE STEP 1 – Investigation 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)
CASE N1: MANUAL GUIDANCA DEVICE USER user ad-hoc interface low cost plug and for the post play device processing manual guidance sensitivity selector state monitor show actual pose Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) translation/rotation MoveLinear (..,..,..,..,..,..) ….. selector lock monitor movement type selector path debug start the program step front / step back ROBOT wireless communication
CASE N1: MANUAL GUIDANCA DEVICE STEP 2 – Pre-industrial prototype EXPERIMENTS PERFORMED USING COMAU ROBOT Research on: @ COMAU LABS • 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 manual guidance sensitivity selector state monitor show actual pose Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) translation/rotation MoveLinear (..,..,..,..,..,..) ….. selector lock monitor movement type selector path debug start the program step front / step back
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: Special Teach • Implementation on COMAU Controller C++ Pendant • Implementation of a wired device based on 6D Optical sensor mouse with on board processing electronics • First HMI Implementation on Special Teach Pendant 6D OPTICAL MOUSE
CASE N1: MANUAL GUIDANCA DEVICE STEP 3 - Industrialization M G D :-) . Wireless teach pendant . User interface for EASY and INTUITIVE PROGRAMMING . Embedded 6DOF optical . Bluetooth communication device channel . Linux-Xenomai RESULT . Bluetooth communication MANUAL GUIDANCE DEVICE WIRLESS Patent No. 08425778.1 2206 Year 2009
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
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
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
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