Expert cooperative robots for highly skilled operations for the factory of the future Grant Agreement No : 314355 Project Acronym : X-act Project Start Date : 1st October, 2012 Consortium : UNIVERSITY OF PATRAS (LMS) - Project Coordinator COMAU SPA (COMAU) SIEMENS INDUSTRY SOFTWARE SAS (SIEMENS-PLM) FUNDACION TEKNIKER (TEKNIKER) FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V (F-IPK) TOFAS TURK OTOMOBIL FABRIKASI ANONIM SIRKETI (TOFAS) ALFA HOGAR S.L. (ALFA) PILZ INDUSTRIEELEKTRONIK SL (PILZ) SIEMENS INDUSTRY SOFTWARE LTD (SIEMENS-IND) Title : X-act Requirements analysis and specifications Reference : D1.2 Availability : Public Date : 31/03/2013 Author/s : X-act consortium Circulation : EU, X-act consortium, Public Summary: This report includes the description of requirements and specifications for the development of the X- act technologies, after the recognition of state of the art in the related issues. X-act 314355 Table of Contents EXPERT COOPERATIVE ROBOTS FOR HIGHLY SKILLED OPERATIONS FOR THE FACTORY OF THE FUTURE ............................................................................................... 1 1. EXECUTIVE SUMMARY ..................................................................................................... 4 2. STATE OF THE ART FOR DUAL ARM ROBOTS ............................................................. 5 2.1. Applications of dual arm robots ....................................................................................... 5 2.1.1. Academic applications ....................................................................................... 5 2.1.2. Industrial applications ........................................................................................ 9 2.2. Programming techniques for dual arm robots ................................................................ 17 2.2.1. Motion oriented and task oriented programming languages ............................ 17 2.2.2. Automatic programming systems and user friendly interactive dual arm robot programming ...................................................................................... 18 2.3. Motion planning in dual arm robots ............................................................................... 21 2.3.1. Motion planning ............................................................................................... 21 2.3.2. Sample-Based Motion Planning ....................................................................... 21 2.3.3. Motion planning in dynamic environment ....................................................... 23 2.3.4. Multiple robot arms .......................................................................................... 24 2.3.5. Task oriented motion planning ......................................................................... 27 2.3.6. Open libraries for motion planning .................................................................. 28 2.4. Human Robot cooperation and safety issues ................................................................. 29 2.4.1. Human- robot cooperation in hybrid assembly processes ................................ 29 2.4.2. Safety issues ..................................................................................................... 32 3. REQUIREMENTS FOR DUAL ARM ROBOT PROGRAMMING & CONTROLS ......... 34 3.1. Requirements for dexterous advanced robot programming ........................................... 34 3.2. Research and industry differences and weaknesses recognized for dexterous advanced robot programming ..................................................................................... 40 3.3. Requirements for new sensorial capabilities ................................................................. 40 3.4. Research and industry differences and weaknesses for new sensorial capabilities ....... 41 3.5. Requirements for control functionality .......................................................................... 41 3.6. Research and industry differences and weaknesses for control functionality ............... 45 3.7. Requirements for dual arm motion planning ................................................................. 45 3.8. Research and industry differences and weaknesses for dual arm motion planning ....... 45 3.9. Requirements for offline programming ......................................................................... 46 3.10. Research and industry differences and weaknesses for offline programming ............. 47 3.11. Requirements for dual arm simulation & kinematic modelling ................................... 47 -2- X-act 314355 3.12. Research and industry differences and weaknesses for dual arm simulation & kinematic modelling ................................................................................................... 47 4. REQUIREMENTS FOR COGNITIVE HUMAN-ROBOT INTERACTION AND SAFETY ................................................................................................................................ 48 4.1. Existing regulation and Standards for safety issues ....................................................... 48 4.1.1. Directives ......................................................................................................... 49 4.1.2. Safety related general Standards ...................................................................... 50 4.1.3. Standards on robot safety ................................................................................. 58 4.1.4. CE marking ....................................................................................................... 67 4.2. Human robot interaction-Programming phase ............................................................... 68 4.2.1. Requirements for development Highly Intuitive interfaces ............................. 68 4.2.2. Research and industry differences and weaknesses for development of Highly Intuitive interfaces........................................................................... 70 4.3. Human robot interaction- Operation phase .................................................................... 72 4.3.1. Requirements setting for human robot workspace sharing .............................. 72 4.3.2. Research and industry differences and weaknesses for human robot workspace sharing and safety issues ........................................................... 72 5. REQUIREMENTS FOR DUAL ARM ROBOTS ENHANCEMENT/ EXTENSION MODULE .............................................................................................................................. 73 5.1. Requirements for dual arm robot platform selection and dual arm robot extension modules ...................................................................................................................... 73 5.2. Research and industry differences and weaknesses for dual arm robot platform selection and dual arm robot extension modules ....................................................... 79 6. CONCLUSIONS ................................................................................................................... 80 7. GLOSSARY .......................................................................................................................... 81 8. LIST OF TABLES ................................................................................................................ 82 9. LIST OF FIGURES ............................................................................................................... 83 10. REFERENCES ...................................................................................................................... 85 -3- X-act 314355 1. EXECUTIVE SUMMARY The content of this document is public. The main purpose of this document is: The recognition of the current state in X-act objectives, namely: o Dual arm academic and industrial applications survey o Programming techniques able of applying in dual arm robotic manipulators o Motion planning techniques capable of supporting dual arm planning o Human Robot cooperation and safety issues The identification of weaknesses and industrial needs The identification of requirements and differences between research and industry in the following sectors: o Dexterous advanced robot programming o New sensorial capabilities o Dual arm Control functionality o Dual arm motion planning o Offline programming o Dual arm simulation & kinematic modelling o Highly Intuitive interfaces o Human robot interaction (HRI) and human robot workspace sharing o Dual arm robot platform selection and dual arm robot extension modules The identification of requirements is based on the pilot cases that X-act project will carry on (Automotive and rework of electrical appliances industry) The identification of risk and risk assessment based on the selected scenarios The identification of existing regulation and standards concerning the HRI Further information is provided in the following: Section 2 provides the state of the art in dual arm robots Section 3 provides the analysis of the Requirements for Dual Arm Robot Programming & Controls Section 4 provides the analysis of the Requirements for Cognitive Human-Robot Interaction & Safety Section 5 provides the analysis of The Dual Arm Robots Enhancement/ Extension Module Section 6 presents the conclusions of this document in order to help the next steps and WP for starting the development of X-act technologies -4- X-act 314355 2. STATE OF THE ART FOR DUAL ARM ROBOTS 2.1. Applications of dual arm robots The development