scholarly journals A knowledge-based approach to the layout optimization of human–robot collaborative workplace

2020 ◽  
Author(s):  
A. Rega ◽  
F. Vitolo ◽  
C. Di Marino ◽  
S. Patalano
Keyword(s):  
Production Systems ◽  
Industrial Robot ◽  
Safety Standards ◽  
Knowledge Based ◽  
Standards Compliance ◽  
Main Challenge ◽  
Flexible Production Systems ◽  
Robot Systems ◽  
Human Robot Collaboration ◽  
Collaborative Robot

Abstract Human–robot collaboration (HRC) solutions are replacing classic industrial robot due to the possibility of realizing more flexible production systems. Collaborative robot systems, named cobot, can work side by side with humans combining their strengths. However, obtaining an efficient HRC is not trivial; indeed, the potential advantages of the collaborative robotics increase as complexity increases. In this context, the main challenge is to design the layout of collaborative workplaces facing the facility layout problem and ensuring the safety of the human being. To move through the high number of safety standards could be very tiring and unproductive. Therefore, in this work a list of key elements, linked to reference norms and production needs, characterizing the collaborative workplace has been identified. Then, a graph-based approach has been used in order to organize and easily manage this information. The management by means graphs has facilitated the implementation of the acquired knowledge in a code, developed in Matlab environment. This code aims to help the designer in the layout organization of human–robot collaborative workplaces in standards compliance. The paper presents the optimization code, named Smart Positioner, and the operation is explained through a workflow diagram.

A case study in human–robot collaboration in the disassembly of press-fitted components

2019 ◽  
Vol 234 (3) ◽  
pp. 654-664 ◽  
Author(s):  
Jun Huang ◽  
Duc Truong Pham ◽  
Yongjing Wang ◽  
Mo Qu ◽  
Chunqian Ji ◽  
...  
Keyword(s):  
End Of Life ◽  
Industrial Robot ◽  
New Method ◽  
Water Pump ◽  
Compliance Control ◽  
Critical Step ◽  
Active Compliance ◽  
Human Robot Collaboration ◽  
Collaborative Robot

Human–robot collaborative disassembly is an approach designed to mitigate the effects of uncertainties associated with the condition of end-of-life products returned for remanufacturing. This flexible semi-autonomous approach can also handle unpredictability in the frequency and numbers of such returns as well as variance in the remanufacturing process. This article focusses on disassembly, which is the first and arguably the most critical step in remanufacturing. The article presents a new method for disassembling press-fitted components using human–robot collaboration based on the active compliance provided by a collaborative robot. The article first introduces the concepts of human–robot collaborative disassembly and outlines the method of active compliance control. It then details a case study designed to demonstrate the proposed method. The study involved the disassembly of an automotive water pump by a collaborative industrial robot working with a human operator to take apart components that had been press-fitted together. The results show the feasibility of the proposed method.

Optimization by Simulation of Fabrication in Manufacturing Robotized Systems

2012 ◽  
Vol 463-464 ◽  
pp. 1133-1136 ◽  
Author(s):  
Constantin Dumitru ◽  
Violeta Dumitru ◽  
Daniel Popescu
Keyword(s):  
Production Systems ◽  
Industrial Robot ◽  
Product Family ◽  
Spatial Arrangement ◽  
Flexible Production ◽  
Mathematic Modeling ◽  
Flexible Production Systems ◽  
Cell Modules ◽  
The Cost ◽  
Flexible Fabrication

This work proposes the optimization by simulation of fabrication in manufacturing robotized systems, designing in principle of a flexible fabrication cell composed of many modules (centering, turning, etc) for machining of a product family, cell that is to be operated by an industrial robot whose purpose is the handling of parts within it (transport of parts among the cell modules). The production task shall be reviewed first, within which the typological nucleus to be machined, using the mathematic theory of utilities. The next step consists in determining the static configuration of the MRS in order to set the type and number of modules-operation using the mathematic modeling. Through the method of fictive ranges it shall be calculated the cost of the flexible production systems and it shall be determined the spatial arrangement of processing modules from MRS.

Mobile Ressourcen im dynamischen Produktionsumfeld*/Scheduling of mobile autonomous robot systems

2019 ◽  
Vol 109 (04) ◽  
pp. 250-254
Author(s):  
A. Lottermoser ◽  
C. Härdtlein ◽  
J. Schollerer ◽  
C. Richter ◽  
G. Reinhart
Keyword(s):  
Production Systems ◽  
Influencing Factor ◽  
Autonomous Robot ◽  
Flexible Production ◽  
Production Planning And Control ◽  
Planning And Control ◽  
Flexible Production Systems ◽  
Robot Systems ◽  
And Control ◽  
Mobile Autonomous Robot

Durch die im Rahmen der Industrie 4.0 forcierte Entwicklung zu einer dynamischen, wandlungsfähigen und flexiblen Produktion ergeben sich vor allem für die Produktionsplanung und -steuerung (PPS) neue Herausforderungen. Neben einem robusten Produktionsablauf und dynamischen Einflüssen müssen in Zukunft neue Ressourcen bei der Auftragsplanung berücksichtigt werden. Die Einplanung mobiler Robotersysteme ruft zusätzliche Einflussfaktoren hervor, die PPS-seitig bewerkstelligt werden müssen.   The development towards dynamic, versatile and flexible production systems in the context of Industry 4.0 creates new challenges for production planning and control (PPC). Next to a robust production process and dynamic influences, new resources have to be taken into account in the future. The scheduling of mobile autonomous robot systems is an additional influencing factor that has to be considered by PPC systems.

scholarly journals Semantic knowledge based reasoning framework for human robot collaboration

Procedia CIRP ◽  
2021 ◽  
Vol 97 ◽  
pp. 373-378
Author(s):  
Sharath Chandra Akkaladevi ◽  
Matthias Plasch ◽  
Michael Hofmann ◽  
Andreas Pichler
Keyword(s):  
Semantic Knowledge ◽  
Knowledge Based ◽  
Human Robot Collaboration

scholarly journals Projections of Local Knowledge-Based Adaptation Strategies of Mexican Coffee Farmers

Climate ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 60
Author(s):  
Patricia Ruiz-García ◽  
Cecilia Conde-Álvarez ◽  
Jesús David Gómez-Díaz ◽  
Alejandro Ismael Monterroso-Rivas
Keyword(s):  
Climate Change ◽  
Extreme Events ◽  
Local Knowledge ◽  
Production Systems ◽  
Agroforestry Systems ◽  
Southern Mexico ◽  
Knowledge Based ◽  
Coffee Farmers ◽  
Extreme Hydrological Events ◽  
Adaptation Policies

Local knowledge can be a strategy for coping with extreme events and adapting to climate change. In Mexico, extreme events and climate change projections suggest the urgency of promoting local adaptation policies and strategies. This paper provides an assessment of adaptation actions based on the local knowledge of coffee farmers in southern Mexico. The strategies include collective and individual adaptation actions that farmers have established. To determine their viability and impacts, carbon stocks and fluxes in the system’s aboveground biomass were projected, along with water balance variables. Stored carbon contents are projected to increase by more than 90%, while maintaining agroforestry systems will also help serve to protect against extreme hydrological events. Finally, the integration of local knowledge into national climate change adaptation plans is discussed and suggested with a local focus. We conclude that local knowledge can be successful in conserving agroecological coffee production systems.

scholarly journals Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 5914
Author(s):  
Daniel Reyes-Uquillas ◽  
Tesheng Hsiao
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Path Following ◽  
Path Tracking ◽  
Control Loop ◽  
Loop Control ◽  
Tracking Ability ◽  
The Difference ◽  
Human Robot Collaboration

In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accuracy of a human operator while remaining compliant with the human instructions. We propose a dual-loop control structure where the outer admittance control loop allows the robot to be compliant along a path considering the projection of the external force to the tangential-normal-binormal (TNB) frame associated with the path. The inner motion control loop is designed based on a modified sliding mode control (SMC) law. We evaluate the system behavior to forces applied from different directions to the end-effector of a 6-DOF industrial robot in a linear motion test. Next, a second test using a 3D path as a tracking task is conducted, where we specify three interaction types: free motion (FM), force-applied motion (FAM), and combined motion with virtual forces (CVF). Results show that the difference of root mean square error (RMSE) among the cases is less than 0.1 mm, which proves the feasibility of applying this method for various path-tracking applications in compliant human–robot collaboration.

scholarly journals Automation technology as a key component of the Industry 4.0 production development path

2021 ◽  
Author(s):  
Christian Brecher ◽  
Aleksandra Müller ◽  
Yannick Dassen ◽  
Simon Storms
Keyword(s):  
Industry 4.0 ◽  
Information Technologies ◽  
Production Systems ◽  
Product Variety ◽  
Transformation Process ◽  
Smart Manufacturing ◽  
Production Development ◽  
Flexible Production Systems ◽  
Current Production ◽  
Automation Technology

AbstractSince 2011, the Industry 4.0 initiative is a key research and development direction towards flexible production systems in Germany. The objective of the initiative is to deal with the challenge of an increased production complexity caused by various factors such as increasing global competition between companies, product variety, and individualization to meet customer needs. For this, Industry 4.0 envisions an overarching connection of information technologies with the production process, enabling smart manufacturing. Bringing current production systems to this objective will be a long transformation process, which requires a coherent migration path. The aim of this paper is to represent an exemplary production development way towards Industry 4.0 using eminent formalization approaches and standardized automation technologies.

Knowledge Recommendation System for Human-Robot Collaborative Disassembly Using Knowledge Graph

2021 ◽  
Author(s):  
Yang Hu ◽  
Yiwen Ding ◽  
Feng Xu ◽  
Jiayi Liu ◽  
Wenjun Xu ◽  
...  
Keyword(s):  
Recommendation System ◽  
Industrial Robots ◽  
Knowledge Graph ◽  
Disassembly Process ◽  
Knowledge Based ◽  
Manufacturing Efficiency ◽  
Human Operators ◽  
Traditional Manufacturing ◽  
Human Robot Collaboration

Abstract In recent years, more and more attention has been paid to Human-Robot Collaborative Disassembly (HRCD) in the field of industrial remanufacturing. Compared with the traditional manufacturing, HRCD helps to improve the manufacturing flexibility with considering the manufacturing efficiency. In HRCD, knowledge could be obtained from the disassembly process and then provides useful information for the operator and robots to execute their disassembly tasks. Afterwards, a crucial point is to establish a knowledge-based system to facilitate the interaction between human operators and industrial robots. In this context, a knowledge recommendation system based on knowledge graph is proposed to effectively support Human-Robot Collaboration (HRC) in disassembly. A disassembly knowledge graph is constructed to organize and manage the knowledge in the process of HRCD. After that, based on this, a knowledge recommendation procedure is proposed to recommend disassembly knowledge for the operator. Finally, the case study demonstrates that the developed system can effectively acquire, manage and visualize the related knowledge of HRCD, and then assist the human operator to complete the disassembly task by knowledge recommendation, thus improving the efficiency of collaborative disassembly. This system could be used in the human-robot collaboration disassembly process for the operators to provide convenient knowledge recommendation service.

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