Paper Info
Title
A skill-based approach towards hybrid assembly
Abstract
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.
Year
DOI
Venue
2010
10.1016/j.aei.2010.05.013
Advanced Engineering Informatics
Keywords
Field
DocType
industrial robot,multi-sensory perception,hybrid assembly,instruction based learning,environmental data,common understanding,efficient cooperation,adaptive control,new task,collision avoidance module,multi-modal interaction,worker instruction,worker surveillance,skill-based approach,shared workspace,human worker,knowledge based system,real time,software architecture
Systems engineering,Workspace,Real-time computing,Industrial robot,Human–computer interaction,Adaptive control,Engineering,Software architecture,Environmental data,Robot,Perception,Orchestration (computing)
Journal
Volume
Issue
ISSN
24
3
Advanced Engineering Informatics
Citations 
PageRank 
References 
8
0.59
19
Authors
6
Name
Order
Citations
PageRank
Frank Wallhoff121428.41
Jürgen Blume2122.01
Alexander Bannat3324.99
Wolfgang Rösel4383.10
Claus Lenz5767.53
Alois Knoll Knoll61700271.32