scispace - formally typeset
Search or ask a question
Journal ArticleDOI

Cooperation of human and machines in assembly lines

TL;DR: In this article, a survey about forms of human-machine cooperation in assembly and available technologies that support the cooperation is presented, including organizational and economic aspects of cooperative assembly including efficient component supply and logistics.
About: This article is published in CIRP Annals.The article was published on 2009-01-01. It has received 667 citations till now. The article focuses on the topics: Flexibility (engineering) & Robot.
Citations
More filters
30 Mar 2020
TL;DR: ROS is technically not an operating system but a software framework (or middleware) providing an integrated development environment to the robot application, and has been called a meta operating system.
Abstract: ed and accessed by it. This is the basic concept of an operating system and the fundamental reason to the implementation of the ROS ecosystem. To make a parallelism, a general operating system would have the following structure: Figure 3-2: general OS layers architecture. The Application Layer is at the top level of the hierarchy and implements the final functionality of the system. Typically, the application runs at a low-privileged state (i.e. in user space) and has access to the system resources through the APIs provided by the operating system which instead runs at a high-privileged state (i.e. in kernel space). The System Service Layer provides the top-level interfaces to the application and has the role of linking the application environment to the system environment. Graphical user interfaces (GUIs) and file system hierarchy typically take place inside this layer. The Operating System Layer abstracts all the hardware functions and present them (through the System service layer) to the application. The process scheduler, the network manager and the file synchronization process are typical examples of services abstracted by this layer. Finally, the Hardware abstraction layer (or HAL) prepares and enables the hardware environment before starting the execution of the core component of the operating system i.e. the kernel. As such, the bootloader and all the drivers responsible to the correct communication to the hardware peripherals are common examples of functions provided by the HAL. In the following picture, the ROS architecture is shown: The main difference with respect to a traditional OS layered architecture, is that ROS actually runs on top of a host operating system, most commonly a Linux distribution, i.e. Ubuntu. ROS then is technically not an operating system but a software framework (or middleware) providing an integrated development environment to the robot application. For this reason, it has also been called a meta operating system. Moreover, ROS provides a suite of packages driven by the developer communities that implement a dense set of robot functionalities such as trajectory planning, perception, vision, control and manipulation. ROS has been thought as a multi-lingual system: ROS modules can be written in any language for which a client library exists. While the two most common library languages are C++ and Python, current libraries are also written in LISP, Java, Ruby and MATLAB. Figure 3-3: ROS layers architecture. All the software in ROS is arranged in packages. Each package can contain one or several nodes and it also exposes a ROS interface. Packages can be built by the application developer but are also independently distributed by the community and hosted on a software repository, providing a development environment with a common set of application functionalities. 3.3 ROS Nodes and Topics: How the Distributed Paradigm Works ROS derives its core architectural philosophy from that of a micro-kernel operating system. This means that a ROS environment consists of numerous small processes that are all connected to each other and function by continuously exchange messages. As such it is presented as a peer-to-peer (P2P) architecture. The ROS processes are called nodes. ROS nodes are written using a ROS client library. roscpp and rospy are the two most used libraries written respectively in C++ and Python. ROS nodes are then singularly compiled and executed providing the required atomic functionality: actuator drivers, sensor drivers, trajectory planner, visor and so on. Each node can publish or subscribe to a specific topic, which are stream of data (i.e. messages) strictly built upon a specific type. As an example, a message carrying a velocity command is defined in the following way: Vector3 linear Vector3 angular Where Vector3 is once again a message composed in the following way: float64 x float64 y float64 z ROS messages are all built starting from primitive types and the framework allows the developer to define their own messages when the built-in ones are not sufficient to fully implement the application function. They are defined inside the directory of a package and are then compiled into the same language implementation chosen for the application. Node communication is then implemented by publishing messages on topic with a manyto-many broadcasting model. All the communication relationships between the nodes are synthetized in what is called the ROS Graph that can be dynamically generated inside the

1 citations


Additional excerpts

  • ...3 [9] [10] [11] [12] [13] [14] [15]Future developments...

    [...]

Journal ArticleDOI
TL;DR: This paper investigated the application of the principle of energy equivalence to easily obtain a suitable model for identification of the inertial parameters and friction of planar mechanisms and found that the identified model was able to predict the dynamic behavior of the mechanism.

1 citations

01 Feb 2020
TL;DR: This thesis presents the development of a novel macro-mini mechanism allowing intuitive physical human-robot interaction (pHRI) and demonstrates that the standard impedance controller is not stable with the proposed architecture and hence an alternative controller is introduced and evaluated.
Abstract: This thesis presents the development of a novel macro-mini mechanism allowing intuitive physical human-robot interaction (pHRI). This type of architecture allows the control of a high-impedance robot such as a Cartesian gantry robot in a manufacturing environment using a smaller and lower impedance mechanism, therefore allowing a signi cant reduction of the operator's e ort and fatigue. The proposed macro-mini mechanism consists of a three-axis Cartesian gantry system (i.e. macro mechanism) and a passive three-degree-of-freedom parallel mechanism (i.e. mini mechanism). The mini mechanism is statically balanced at its workspace centre and all three degrees of freedom are decoupled. This means that the gantry axes are individually controlled using the measurement of a single angular encoder of the mini. It also means that the motion of the mini mechanism along the direction of a degree of freedom does not a ect the remaining degrees of freedom, considerably simplifying the control. The use of impedance control with this type of architecture is thoroughly described and analyzed. An experimental comparison with a standard admittance controller using a force sensor is accomplished using a simple peg-in-hole experiment. Results show that the impedance control allows a faster task completion (by a factor of 2) with smaller e ort (by a factor of 20) compared with the admittance controller. A comprehensive stability analysis is also accomplished on several designs of impedance controller, but with the same macro-mini architecture. Results demonstrate that the standard impedance controller is not stable with the proposed architecture and hence an alternative controller is introduced and evaluated. A backdrivable motor is added at the mini's joint in order to render haptic feedback to the operator. Such feedback is used to simulate virtual environment interactions such as walls and collisions with movable objects. The backdrivable motor is also used to vary the impedance felt by the user during control by adding a virtual mass at the mini mechanism end-e ector. Finally, the system's dynamic analysis is used for collision detection of the macro-mini mechanism during planned trajectory motion without the need for force sensors. This last aspect is essential for safe physical human-robot interactions.

1 citations

Journal ArticleDOI
TL;DR: In this article , the authors focus on the question whether the manufacturing life using enhancement practices pushes the boundaries of human-machine interaction (HMI) and how these effects enable new modes of working in manufacturing.
Abstract: Abstract The convergence of nano-, bio-, information, and cognitive sciences and technologies (NBIC) is advancing continuously in many societal spheres. This also applies to the manufacturing sector, where technological transformations in robotics push the boundaries of human–machine interaction (HMI). Here, current technological advances in micro- and nanomanufacturing are accompanied by new socio-economic concepts for different sectors of the process industry. Although these developments are still ongoing, the blurring of the boundaries of HMI in processes at the micro- and nano- level can already be observed. According to the authors, these new socio-technical HMIs may lead to the development of new work environments, which can also have an impact on work organization. While there is still little empirical evidence, the following contribution focuses on the question whether the “manufacturing (or working) life” using enhancement practices pushes the boundaries of HMI and how these effects enable new modes of working in manufacturing. Issues of standardization, acceleration of processes, and order-oriented production become essential for technological innovation in this field. However, these trends tend to lead to a “manufacturing life” in work environments rather than to new modes of work in industry.

1 citations

Proceedings ArticleDOI
04 Nov 2019
TL;DR: The algorithm presented herein extends a time-optimal OTG to cope with non admissible robot’s state to enable time-variant kinematic constraints and makes the robot able to react quickly to unforeseen events.
Abstract: As humans and robots work more and more closely, robots must quickly react to unforeseen human behavior. Online Trajectory Generation (OTG), based on simple trajectory models like series of polynomial cubic functions, has demonstrated its efficiency to plan and control reactive motions of robots. However to ensure the safety and comfort of humans, fast trajectory adaptation algorithms are necessary to bring back the robot inside an acceptable domain that is defined by a set of kinematic constraints.The algorithm presented herein extends a time-optimal OTG to cope with non admissible robot’s state. This feature enables time-variant kinematic constraints. With the possibility to specify velocity and acceleration at both ends under short computation times, it makes the robot able to react quickly to unforeseen events. Short computation times can lead to more refined architectures where sensors can be integrated to a low control level and make the system more reactive.

1 citations

References
More filters
Book
01 Mar 1986
TL;DR: Robot Vision as discussed by the authors is a broad overview of the field of computer vision, using a consistent notation based on a detailed understanding of the image formation process, which can provide a useful and current reference for professionals working in the fields of machine vision, image processing, and pattern recognition.
Abstract: From the Publisher: This book presents a coherent approach to the fast-moving field of computer vision, using a consistent notation based on a detailed understanding of the image formation process. It covers even the most recent research and will provide a useful and current reference for professionals working in the fields of machine vision, image processing, and pattern recognition. An outgrowth of the author's course at MIT, Robot Vision presents a solid framework for understanding existing work and planning future research. Its coverage includes a great deal of material that is important to engineers applying machine vision methods in the real world. The chapters on binary image processing, for example, help explain and suggest how to improve the many commercial devices now available. And the material on photometric stereo and the extended Gaussian image points the way to what may be the next thrust in commercialization of the results in this area. Chapters in the first part of the book emphasize the development of simple symbolic descriptions from images, while the remaining chapters deal with methods that exploit these descriptions. The final chapter offers a detailed description of how to integrate a vision system into an overall robotics system, in this case one designed to pick parts out of a bin. The many exercises complement and extend the material in the text, and an extensive bibliography will serve as a useful guide to current research. Errata (164k PDF)

3,783 citations

Journal ArticleDOI
19 Oct 1999
TL;DR: By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.
Abstract: This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic interaction. A benchmark example exposes an important duality between these two cases. Linear circuit theory is used to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. These equations lead to an explicit design procedure for virtual coupling networks which give maximum performance while guaranteeing stability. By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.

703 citations

Proceedings ArticleDOI
15 May 2006
TL;DR: This paper discusses the biomimetic design and assembly of a 3g self-contained crawling robot fabricated through the integrated use of various microrobot technologies and presents results of both the kinematic and static analyses of the driving mechanism that essentially consists of three slider cranks in series.
Abstract: This paper discusses the biomimetic design and assembly of a 3g self-contained crawling robot fabricated through the integrated use of various microrobot technologies. The hexapod structure is designed to move in an alternating tripod gait driven by two piezoelectric actuators connected by sliding plates to two sets of three legs. We present results of both the kinematic and static analyses of the driving mechanism that essentially consists of three slider cranks in series. This analysis confirmed the force differential needed to propel the device. We then review various other microrobot technologies that have been developed including actuator design and fabrication, power and control electronics design, programming via a finite state machine, and the development of bioinspired fiber arrays. These technologies were then successfully integrated into the device. The robot is now functioning and we have already fabricated three iterations of the proposed device. We hope with further design iterations to produce a fully operational model in the near future

623 citations

Journal ArticleDOI
TL;DR: In this paper, the authors considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk.
Abstract: This article considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk. Different approaches to the problem were presented, and a method of performance evaluation was proposed based on minimum-time optimal control with safety constraints. The variable stiffness transmission (VST) scheme was found to be one of a few different possible schemes that allows the most flexibility and potential performance. Some aspects related to the implementation of the mechanics and control of VST actuation were also reported.

620 citations

Journal ArticleDOI
TL;DR: This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an Approach to the Design of Approaches toDynamic interaction with the environment is fundamental to the process of manipulation.
Abstract: Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approa...

611 citations