scispace - formally typeset
Search or ask a question
Book ChapterDOI

ROS-Based Robot Simulation in Human-Robot Collaboration

01 Jan 2018-pp 237-246
TL;DR: An approach of how to implement such a software on the basis of the Robot Operating System (ROS) framework in order to enable a realistic simulation of the direct cooperation between human workers and robots is introduced.
Abstract: The idea of human-robot collaboration (HRC) in assembly follows the aim of wisely combining the special capabilities of human workers and of robots in order to increase productivity in flexible assembly processes and to reduce the physical strain on human workers. The high degree of cooperation goes along with the fact that the effort to introduce an HRC workstation is fairly high and HRC has hardly been implemented in current productions so far. A major reason for this is a lack of planning and simulation software for the HRC. Therefore, this paper introduces an approach of how to implement such a software on the basis of the Robot Operating System (ROS) framework in order to enable a realistic simulation of the direct cooperation between human workers and robots.
Citations
More filters
Journal ArticleDOI
TL;DR: In this paper, the authors implemented the robot speed adaption for multiple trajectories in an HRI simulation tool and tested in an application example, and the simulation tool enables a comprehensive simulation, analysis and optimisation of human and robot motions within the HRI, already in the planning phase.
Abstract: Speed and separation monitoring (SSM) is one of the four permissible collaborative operations in human-robot interaction (HRI). At all times, it must be ensured that the speed-dependent separation distance is maintained. To guarantee this, the robot speed or the robot path can be adapted. In this paper, the robot speed adaption for multiple trajectories is implemented in an HRI simulation tool and tested in an application example. Thereby, numerous complex process situations, such as a temporary robot stop or obstacles in the collaborative workspace, can be simulated. The simulation tool enables a comprehensive simulation, analysis and optimisation of human and robot motions within the HRI, already in the planning phase.

6 citations

Journal ArticleDOI
TL;DR: A robotic cell that handles geometrically complex products, exploiting cognitive control and actuation systems for the manipulation, assembly and packaging, and can be generalized for tasks requiring dexterity and adaptation to products.
Abstract: This paper discusses a robotic cell that handles geometrically complex products, exploiting cognitive control and actuation systems for the manipulation, assembly and packaging. The individual mechatronic components, namely a 6-DoF gripper and a flexible assembly mechanism, have been designed via functional decomposition of the actual assembly and handling tasks. The flexibility of these mechanisms is exploited through control modules, performing different cognition functions at cell, resource and device level. The design approach can be generalized for tasks requiring dexterity and adaptation to products. A case study from the consumer goods sector, showcases the system’s reconfigurability and efficiency.

5 citations

Journal ArticleDOI
TL;DR: The result shows that a hierarchical control approach can be considered as a potential candidate to manipulate deformable objects where force requirements are critical and performance characteristics such as accuracy, repeatability, controllability of the motion segmentation and time dynamics are described.

4 citations

References
More filters
Proceedings Article
01 Jan 2009
TL;DR: This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.
Abstract: This paper gives an overview of ROS, an opensource robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogenous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.

8,387 citations

Journal ArticleDOI
01 Aug 1996
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Abstract: A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).

4,977 citations

Journal ArticleDOI
TL;DR: In this paper, the authors presented the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design), where the task is to determine control inputs to drive a robot from an unknown position to an unknown target.
Abstract: This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an ...

2,993 citations

Proceedings ArticleDOI
01 Sep 2004
TL;DR: Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots.
Abstract: Simulators have played a critical role in robotics research as tools for quick and efficient testing of new concepts, strategies, and algorithms. To date, most simulators have been restricted to 2D worlds, and few have matured to the point where they are both highly capable and easily adaptable. Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots. Its open source status, fine grained control, and high fidelity place Gazebo in a unique position to become more than just a stepping stone between the drawing board and real hardware: data visualization, simulation of remote environments, and even reverse engineering of blackbox systems are all possible applications. Gazebo is developed in cooperation with the Player and Stage projects (Gerkey, B. P., et al., July 2003), (Gerkey, B. P., et al., May 2001), (Vaughan, R. T., et al., Oct. 2003), and is available from http://playerstage.sourceforge.net/gazebo/ gazebo.html.

2,824 citations

Journal ArticleDOI
TL;DR: An open-source framework to generate volumetric 3D environment models based on octrees and uses probabilistic occupancy estimation that represents not only occupied space, but also free and unknown areas and an octree map compression method that keeps the 3D models compact.
Abstract: Three-dimensional models provide a volumetric representation of space which is important for a variety of robotic applications including flying robots and robots that are equipped with manipulators. In this paper, we present an open-source framework to generate volumetric 3D environment models. Our mapping approach is based on octrees and uses probabilistic occupancy estimation. It explicitly represents not only occupied space, but also free and unknown areas. Furthermore, we propose an octree map compression method that keeps the 3D models compact. Our framework is available as an open-source C++ library and has already been successfully applied in several robotics projects. We present a series of experimental results carried out with real robots and on publicly available real-world datasets. The results demonstrate that our approach is able to update the representation efficiently and models the data consistently while keeping the memory requirement at a minimum.

2,135 citations

Trending Questions (1)
What are the different types of robot abilities based on human simulation?

The paper does not provide information about the different types of robot abilities based on human simulation.