Figure 1: Workplace-sharing intelligent-assistent robot prototype.

1 Overview

SP1 develops intelligent assist systems (IAS) capable of sharing a workplace with human workers. These IAS may be industrial robot-like devices (active motion) or so-called collaborative robots (cobots): passive, power-assist devices which follow precisely programmed paths. Specifically, SP1

• specifies the requirements needed to develop concepts and prototypes of novel power assist systems,
• develops concepts of IAS based on available industrial robot technology as well as new passive and power-assisted cobots,
• develops simulation models of robotic and cobotic systems, and
  
• designs preliminary prototypes based on the elaborated and verified concepts.
  
  

2 Developments

2.1 Requirements specification

The lifting, moving and manipulation of objects varying in size, form and weight are basic operations common to all branches of industry and enterprise.  The repeated, one-sided handling of heavy, obstructive parts continues to create harsh physical demands on workers. Over the last several decades, many technical instruments and devices have been developed to support such handling processes. However, these systems still suffer from marked disadvantages. In order to address these problems, new concepts for ergonomic and operator-friendly robot-assistants and collaborative robots are necessary.

The early stages of SP1 saw an extensive analysis of the state-of-the-art. Through the cooperation of end-users, system integrators, developers, and various research institutions, specific development needs addressing the gaps in the state-of-the-art were identified. The results of this analysis are the basis of the concepts development and IAS design work in SP1.

2.2 IAS/cobot concepts

The concepts design in SP1 is motivated by typical use cases such as the assembly of automobile wind screens and the assembly of the electrical motor gear box of a household appliance. Detailed concepts for the relevant subsystems were achieved, including concepts for the system layout, mechanical concepts, ergonomic and safety issues as well as requirements for the human-robot interaction. Aspects treated include the force-torque sensors for user input, the information systems based on touch-screens, and the necessary safety requirements. Extensive modelling and simulation of the robot-assistant was performed in connection with this concepts development, in particular to validate the concepts developed and to implement the software tools provided by the related SP3.  Owing to the success of this phase, the demonstrator system is now well under development.

Figure 2: rob@work 2 intelligent-assistant robot prototype (Fraunhofer IPA).

2.3 IAS/cobot models and simulation

Within SP1 a comprehensive set of robot/cobot kinematic and dynamic simulation models has been developed. These models support all phases of the system design, from the mechanical design and test and verification of concepts to the control design and control optimization. These models will be integrated into the planning tools for robot assembly task planning developed concurrently in SP3.

2.4 Prototype design

Building on the results of the requirements specification, concepts design, and modelling/simulation activities, a concept for the design of the prototype has been elaborated. The concept covers the control system architectures, the algorithms, human-machine interfaces and the safety system that will be implemented for the demonstration prototypes in SP5. This concept for the prototype represents a step-over in robotic systems with improved capabilities in assembly tasks and cooperation with humans. In order to really take advantage of the resulting flexibility, high performance, ease-of-use and a safe environment will have to be guaranteed for all use cases. These issues are the focus of SP1 during the demonstrator setup phase of the next months.