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ROSSINI State of the Art Analysis

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ROSSINI State of the Art Analysis D1.2 H – Requirement No. 2 ROSSINI RObot enhanced SenSing, INtelligence and actuation to Improve productivity and job quality in manufacturing Deliverable D2.1 ROSSINI State of the Art Analysis Deliverable Lead: CRIT Deliverable due date: 31/12/2018 Actual submission date: 31/12/2018 Version: v 3.0 This project receives funding in the European Commission’s Horizon 2020 Research Programme under Grant Agreement Number 818087. D1.2 H – Requirement No. 2 Document Control Page Title D1.2 ROSSINI State of the Art Analysis Creator CRIT This deliverable reports on the analysis of State-of-the-Art of both existing and past projects, as well as it preliminary discusses on opportunities and threats for the ROSSINI consortium. First, the State of the Art presented in the proposal is recalled in each section. Then, a further investigation and update on this State of the Art is provided, by analysing new, existing and past projects, initiatives and if new products/technologies have been Description introduced into the market. Analysis of existing solutions or platforms and their structure is provided; ROSSINI specificity against existing solutions is also presented, with a special focus on new potential opportunities and possible threats. CRIT, DATALOGIC, FRAUNHOFER IFF, IMA, IMA MACHINEBOUW, IRIS, PILZ, Contributors SUPSI, TNO, UNIMORE, WHIRPOOL, SCHINDLER SUPPLY CHAIN EUROPE Creation date 06/11/2018 Type Report Language English public Audience confidential Draft Review status WP leader accepted Coordinator accepted to be revised by Partners for approval by the WP leader Action requested for approval by the Project Coordinator for acknowledgement by Partners ROSSINI | GA n. 818087 Pag. 2 | 128 D1.2 H – Requirement No. 2 Table of Contents Table of Contents .............................................................................................................................................. 3 List of Acronyms ............................................................................................................................................... 7 List of Figures.................................................................................................................................................. 11 List of Tables ................................................................................................................................................... 13 1 Deliverable Description ........................................................................................................................... 14 2 Introduction ............................................................................................................................................. 15 3 Detection and tracking of the working environment ............................................................................... 17 3.1 ROSSINI Envisioned Sensing Technology ..................................................................................... 17 3.1.1 Architectural elements of a sensing systems and available technologies ................................ 19 3.2 Data fusion and processing techniques ............................................................................................ 23 3.2.1 General data fusion algorithms ................................................................................................ 23 3.2.2 Data fusion and processing techniques for safety applications ............................................... 33 4 Safety robot architecture .......................................................................................................................... 39 4.1 Robot Control Technology .............................................................................................................. 39 4.2 Robot Actuation Technology ........................................................................................................... 41 4.3 Reference architectural solutions ..................................................................................................... 42 4.4 Example of real-world use cases ..................................................................................................... 44 4.4.1 Valeri European Project ........................................................................................................... 44 4.4.2 Robo-partner Project ................................................................................................................ 46 4.5 Collaborative robotic arm range ...................................................................................................... 47 4.6 Discussion on the presented market solutions ................................................................................. 57 4.7 Mobile Robots ................................................................................................................................. 57 5 Human-robot mutual understanding ........................................................................................................ 62 5.1 Human-robot teaming ...................................................................................................................... 63 5.1.1 Common challenges in human-robot teaming ......................................................................... 63 5.1.2 The robotic teammate .............................................................................................................. 64 5.1.3 Forms of co-work .................................................................................................................... 64 5.1.4 Levels of autonomy ................................................................................................................. 65 5.1.5 Interaction Roles ...................................................................................................................... 66 5.1.6 Team structure ......................................................................................................................... 67 5.1.7 Task allocation ......................................................................................................................... 67 5.1.8 Coactive design........................................................................................................................ 68 5.2 Trust ................................................................................................................................................. 69 5.3 IO-modalities ................................................................................................................................... 69 5.3.1 Robot to human ....................................................................................................................... 69 5.3.2 Human to robot ........................................................................................................................ 72 5.4 Job quality ....................................................................................................................................... 75 5.4.1 OECD Job Quality Framework ............................................................................................... 76 5.4.2 Measuring job quality .............................................................................................................. 76 5.4.3 Impact of Human-Robot Teaming on Job Quality .................................................................. 78 5.5 Ergonomics ...................................................................................................................................... 78 ROSSINI | GA n. 818087 Pag. 3 | 128 D1.2 H – Requirement No. 2 5.5.1 How to apply ergonomics? ...................................................................................................... 81 5.5.2 Task analysis as basis .............................................................................................................. 81 5.5.3 Laws and regulation ................................................................................................................. 82 5.5.4 Guidelines for design and evaluation of work ......................................................................... 82 6 Safety system architecture ....................................................................................................................... 86 6.1 Reference System Solutions ............................................................................................................ 87 6.2 Design tools for HRC and industrial robot applications .................................................................. 89 6.2.1 Comparison of Open Source and Non-Open-Source robotics simulator software .................. 89 6.2.2 Comparison of five Open Source robotics simulator software ................................................ 95 6.2.3 Quick overview on Gazebo ..................................................................................................... 96 6.2.4 Gazebo simulation examples ................................................................................................... 97 7 Market Overview ................................................................................................................................... 100 7.1 Human-Robot Collaboration: a key driver for manufacturing sustainability in Europe ............... 100 7.1.1 HRC for Production Reshoring ............................................................................................. 100 7.1.2 HRC for Flexible
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