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In recent years, Human Robot Cooperation (HRC) has found an increasing adoption in manufacturing, especially to help humans in the execution of manual assembly tasks. An effective employment of HRC encompasses human relief from exhausting operations. Therefore, the design of cooperative solutions should be developed accordingly to ergonomic aspects. The present work proposes an approach to support...
This paper presents a framework schema that allows to bring simulation results obtained from different dual-arm robotic applications to executions in real environments. The framework uses the Robot Operating System (ROS) to communicate each component of the dual-arm, and the robotic software tool The Kautham Project for the computation of motion paths, inverse kinematics validations, collision checking...
Although SMEs would benefit from robotic solutions in assembly, the required invests and efforts for their implementation are often too risky and costly for them. Here, the Horizon 2020 project “ReconCell” aims at developing a new type of highy-reconfigurable multi-robot assembly cell which adresses the particular needs of SMEs. At the Institute for Man- Machine Interaction (MMI), we are developing...
Due to their increasing complexity, the implementation of automation systems faces more challenges. Cognitive architectures have been designed to deal exactly with that. The purpose of a cognitive architecture is to find an action to every possible sensor data to move the system closer to a defined goal. The method is to utilize stored knowledge to reason about the best solution. The challenge for...
Complex handling and assembly tasks can be gradually decomposed into simpler sub-tasks until a level of elementary 'primitive' tasks is reached, which can be expressed generically by so-called Manipulation Primitives. Manipulation Primitives can hence be utilized as the foundation of a unified paradigm to specify and execute complex sensor-based robot tasks. By embedding these Manipulation Primitives...
The lack of efficient and intuitive programming paradigms for industrial manipulators stands in the way of increasing the degree of automation in various industrial manufacturing environments. We approach this lack by exploring tactile surface sensors (TSS) enclosing the links of a manipulator as a gesture input device for intuitive robot programming. First, our low-cost tactile surface sensor is...
This work addresses challenges in a previously presented automated sewing cell regarding material handling. The paper takes a step back and explores basic principles and changes in the hardware that can lead to a higher stability of the process in an industrial setting. Due to space restrictions in front of the needle, it was hard for the robots to handle the workpieces during the last part of the...
In this paper a method is presented that allows an operator to hand-guide a robot along a predefined geometric path. This is a common use case in robot assisted surgery, which often has high demands on precision. In order to ensure the path accuracy of the robot, joint velocity and joint acceleration constraints are enforced to prevent undesired saturation effects of the actuators. Furthermore, necessary...
Robotic applications are evolving to a paradigm of collaborative robotics, where human workers and compliant robots work together to solve complex tasks, until now done fully manually. These tasks also present another challenging issue for the use of robotics, variability in part and tool positions, in robot placement and even in the targets for the robot operation. To comply with all this uncertainties...
In this paper the developmental process of a flexible robot-based assembly cell by a research institute in cooperation with the cells end-user is described. The developed cell contains novel processes-such as the assembly of parts with only minimal geometrical clearance-and is capable of producing a large number of product variations. Additionally a lean feeding method to process loosely supplied...
The fourth industrial revolution has called forth a transformation of how factories and their internal and external components and processes should integrate with each other. The need for fully connected cyber-physical systems is imperative to this vision. In the context of human-robot interaction this creates new exciting possibilities, but also creates challenges at the same time. The real-time...
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