A skill-based approach towards hybrid assembly
| Autor: | Jürgen Blume, Frank Wallhoff, Alois Knoll, Wolfgang Rösel, Alexander Bannat, Claus Lenz |
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| Rok vydání: | 2010 |
| Předmět: |
Engineering
business.industry Real-time computing Building and Construction Workspace joint-action jahir robotics cotesys ddc law.invention Task (project management) Industrial robot Action (philosophy) Artificial Intelligence Human–computer interaction law Robot Orchestration (computing) business Software architecture Collision avoidance Information Systems |
| Zdroj: | Advanced Engineering Informatics. 24:329-339 |
| ISSN: | 1474-0346 |
| DOI: | 10.1016/j.aei.2010.05.013 |
| Popis: | Efficient cooperation of humans and industrial robots is based on a common understanding of the task as well as the perception and understanding of the partner's action in the next step. In this article, a hybrid assembly station is presented, in which an industrial robot can learn new tasks from worker instructions. The learned task is performed by both the robot and the human worker together in a shared workspace. This workspace is monitored using multi-sensory perception for detecting persons as well as objects. The environmental data are processed within the collision avoidance module to provide safety for persons and equipment. The real-time capable software architecture and the orchestration of the involved modules using a knowledge-based system controller is presented. Finally, the functionality is demonstrated within an experimental cell in a real-world production scenario. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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