Skill Based Instruction of Collaborative Robots in Industrial Settings

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

8 Citationer (Scopus)

Resumé

During the past decades increasing need for more flexible and agile manufacturing equipment has spawned a growing interest in collaborative robots. Contrary to traditional industrial robots, collaborative robots are intended for operating alongside the production personnel in dynamic or semi-structured human environments. To cope with the environment and workflow of humans, new programming and control methods are needed compared to those of traditional industrial robots. This paper presents a task level programming software tool allowing robotic novices to program industrial tasks on a collaborative robot. The tool called Skill Based System (SBS) is founded on the concept of robot skills, which are parameterizeable and task related actions of the robot. Task programming is conducted by first sequencing skills followed by an online parameterization performed using kinesthetic teaching. Through several user studies, the usability of SBS and the task level programming approach has been demonstrated. SBS has been utilized in several international research projects where SBS has been deployed and tested in three real manufacturing settings. Collectively, the industrial exploitations have demonstrated the applicability of the proposed task level programming tool based on robot skills for industrial task.
OriginalsprogEngelsk
TidsskriftRobotics and Computer-Integrated Manufacturing
Vol/bind53
Udgave nummerOktober 2018
Sider (fra-til)72-80
Antal sider9
ISSN0736-5845
DOI
StatusUdgivet - 26 mar. 2018

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Robot
Robots
Programming
Industrial robots
Industrial Robot
Agile Manufacturing
Flexible Manufacturing
Parameterization
Computer programming
User Studies
Skills
Software Tools
Teaching
Robotics
Exploitation
Usability
Sequencing
Work Flow
Personnel
Manufacturing

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    abstract = "During the past decades increasing need for more flexible and agile manufacturing equipment has spawned a growing interest in collaborative robots. Contrary to traditional industrial robots, collaborative robots are intended for operating alongside the production personnel in dynamic or semi-structured human environments. To cope with the environment and workflow of humans, new programming and control methods are needed compared to those of traditional industrial robots. This paper presents a task level programming software tool allowing robotic novices to program industrial tasks on a collaborative robot. The tool called Skill Based System (SBS) is founded on the concept of robot skills, which are parameterizeable and task related actions of the robot. Task programming is conducted by first sequencing skills followed by an online parameterization performed using kinesthetic teaching. Through several user studies, the usability of SBS and the task level programming approach has been demonstrated. SBS has been utilized in several international research projects where SBS has been deployed and tested in three real manufacturing settings. Collectively, the industrial exploitations have demonstrated the applicability of the proposed task level programming tool based on robot skills for industrial task.",
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    Skill Based Instruction of Collaborative Robots in Industrial Settings. / Schou, Casper; Andersen, Rasmus Skovgaard; Chrysostomou, Dimitrios; Bøgh, Simon; Madsen, Ole.

    I: Robotics and Computer-Integrated Manufacturing, Bind 53, Nr. Oktober 2018, 26.03.2018, s. 72-80.

    Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

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