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Collaborative Robot Technology and Applications

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Collaborative Robot Technology and Applications Collaborative Robot Technology and Applications Mike Beaupre KUKA Robotics Collaborative Robots Introduction What is Collaboration? Definition of collaboration: Collaboration noun Syllabification: col·lab·o·ra·tion Pronunciation: [kuh-lab-uh-rey-shuhn] • The action of working with someone to produce or create something • Working with others to do a task and to achieve shared goals. • Flexibility is an essential element of collaboration. Source: Wikipedia Early Collaboration Ideas 1966 - Unimate robot demonstrated on the Tonight Show Source: Robot Magazine www.botmag.com Early Collaboration Ideas 1967 - Unimate robot on display at the Biltmore Hotel in Los Angeles Source: Photo by Frank Q. Brown / Los Angeles Times Archive, UCLA Definitions & Terms Collaborative Robot – a robot specifically designed for direct interaction with a human within a defined collaborative workspace Collaborative Workspace - safeguarded space where the robot and a human can perform tasks simultaneously during automatic operation Collaborative Operation (Human-Robot Interaction) - state in which purpose designed robots can safety work in direct cooperation with a human within a defined workspace Intelligent Assist Device (IAD) is a Smart lift assist device, generally not incorporating an autonomous operation mode Cobot - an abbreviation of Collaborative Robot and also synonymous with Intelligent Assist Device Benefits of HRC • Robots excel at simple, repetitive handling tasks. • Humans, on the other hand, have unique cognitive skills for understanding and adapting to any changes in the task. • The combination of humans and robots can greatly improve performance, as long as the work is optimally shared. • Human-robot collaboration allows for various levels of automation and human intervention. Tasks can be partially automated if a fully automated solution is not economical or too complex. • Non-ergonomic workstations can be greatly improved with the help of robots. Safety of the human is an absolute prerequisite Key Robot Features Collaborative Robots also incorporate one or more of the following features: • Safety-rated Stop Monitoring • Hand Guiding – Teaching by Demonstration • Speed and Separation Monitoring • Power and Force Limiting Key Robot Functions • Operation in Automatic Mode with a Person in the Collaborative Workspace - When the person acts - the robot reacts • Incorporating Specific Safety Design Features to Protect the Person from Injury - The robot‘s behavior can be easily programmed through software • Can Have Both Autonomous and Collaborative Phases in an Automatic Work Cycle - Flexible adaption of the robot’s characteristics to an individual task - Tasks are solved through compliance, rather than programmed positions Robot Safety Features Relevant safety features to minimize risk of a HRC application in accordance with applicable standards (ISO 10218-1:2011) • Safe velocity monitoring • Safe workspaces and safeguarded zones • Safe collision detection (free collisions possible) • Safe force monitoring (avoidance of pinching or crushing) • Safe tool detection • Safe switching of states (i.e. safe protection zones) The current standard EN ISO 10218-1:2011 states that the robot is only one component in a robot system and that it is in itself insufficient for safe collaborative operation. Forms of human-robot collaboration No fixed guard, virtual safety fence contact not desired, unlikely (e.g. photo-electric barrier) Shared workspace contact desired, simultaneous motion (e.g. manual guidance) Fixed safety fence Shared contact not possible workspace Shared workspace contact not Robot desired, but possible workspace Shared workspace, but exclusive motion contact Operator possible, but only with workspace stationary robot e.g. in the case of industrial robot as handling assistant Video – Best Fit Joining Video – Adaptive Assembly Other Enhancement Features • Sensitivity – integral force & torque sensors • Distance sensing – vision or radar sensors • Voice interpretation – verbal command functions Evolution of Enablers 1) Advancements in Robot and Sensor Technologies Standstill Monitoring Safe Protection Zones One method for Speed and Separation Monitoring Intelligent Manipulators Robot being used as an Intelligent and Safe Manipulator Evolution of Enablers 2) Advancements in Safe Robot Applications Radiation Surgery TREATMENT: Tumors are treated using a robot-guided LINAC (high energy X-ray radiation source) FLEXIBILITY: The robot and patient positioner allows extremely flexible positioning of the LINAC around the patient providing optimal delivery angles. Source: Accuray Inc. “CyberKnife” Particle Therapy Proton Therapy Treatment Room – Heidelberg, Germany Source: Siemens Medical Angiography RANGE: allows full coverage of the patients body from head to toe. PRECISION: 0.7mm positioning accuracy ensures high imaging quality. SPEED: C-arc can be rotated quickly enabling a complete volume scan and stable image. VERSATILE: allows for rapid switch from interventional to surgical use. Source: Siemens Medical “Artis Zeego” Hippotherapy • Neurorehabilitation directly at the hospital through hippotherapy. • The motion equipment is manipulated, which stimulates neuroplasticity and thus promotes neuronal rehabilitation. • Specially suited for neurological patients, e.g. after a stroke, craniocerebral injury, multiple sclerosis or children with cerebral palsy. Six degrees of freedom provided by the robot gives simulation of horseback riding motions. Source: Hirob, Austria www.intelligentmotion.at Entertainment Ride Systems Source: Mall of the Emirates, Dubai Biological Cybernetic Research Source: Max Planck University for Biological Cybernetics - Tübingen, Germany Motion Pictures Source: Warner Bros. Pictures/ Bot & Dolly LLC Evolution of Enablers 3) Collaborative Application Development Minimally Invasive Surgery Source: DLR, Germany Physical Rehabilitation Source: RWTH Aachen University TV News – Camera & Teleprompter www.youtube.com/watch?v=JvsfjPXFfxg Source: CineTV (Automatica 2014) Lightweight Mobile Platforms Collaboration through autonomous mobile navigation systems Video - Mobile Navigation Research & Education - YouBot • 5-DOF manipulator with two-finger gripper • omnidirectional mobile platform • real-time EtherCAT communication • open interfaces A standard platform which • freely programmable enables researchers • open source software library to focus on their research Service Robotics “Emma” Humanoid Robots DLR “Jason” Source: DLR Germany Wearable Robotics Exoskeleton Supernumerary Robotic Limbs Source: Daewoo Shipbuilding MIT d'Arbeloff Laboratory Mobile Military Applications “LS3” Source: Boston Dynamics Safety References Current Robot Safety Standards: • ISO 10218 Part 1 & Part 2 (2011) • ANSI/RIA R15.06 2012 Additional Reference: • VDMA position-paper “Safety in Human-Robot Collaboration” (http://rua.vdma.org/en/article/-/articleview/4217015) Conclusion • No human-robot collaboration application should be implemented without completing a risk assessment. • The overall application and system must always be considered, not only the robot (i.e. process, part -holding, tool or gripper, etc.) • Risk Assessment = Safety! Contact Information Mike Beaupre Director, New Market Sales KUKA Robotics Corporation 22500 Key Drive Clinton Township, MI 48036 USA 586-465-8847 [email protected] www.kukarobotics.com .
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