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Monitoring of co-operative assembly tasks: functional, safety and quality aspects
Koskinen, J. Heikkilä, T. & Pulkkinen, T.(2009) "Monitoring of co-operative assembly tasks: functional, safety and quality aspects", Proceedings of 2009 IEEE International Symposium on Assembly and Manufacturing (IEEE ISAM 2009), 17-20 November 2009, Suwon, Korea, pp. 310-315
In this paper we present aspects that should be
considered when designing a co-operative robot control for assembling and
handling of heavy parts. In cooperative assembly a human operator and a
collaborative robot – cobot - share the work place and carry out assembly tasks.
A generic assembly model is described for collaborative assembly tasks where two
heavy parts are joined together. A cobot control concept was developed with a
software architecture considering functional, safety and quality aspects.
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