机器人Industrial Robot

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Industrial Robot

• Bright and challenging prospects for industrial robot installations
  • Energy-efficiency and using new materials require continuous retooling of production
  • Rapid production and delivery of customised products at competitive prices are main incentives to automate production
  • Automation enables manufacturers to keep or to relocate production in developed economies without sacrificing cost efficiency
  • Localization and regionalization of production will increase to respond swiftly to customer demands in local markets, shorten production lead time and reduce logistical and political risks
  • The digitalization of production (Industry 4.0), linking the real-life factory with virtual reality, will continue to play an increasingly important role in global manufacturing
  • The range of industrial robots continues to expand – from traditional caged robots capable of handling all payloads, fast and precise, to newer collaborative robots that can work safely alongside humans, and robots that can be fully integrated into workbenches
  • Robots work around the clock with a consistent standard of quality and perform an increasing range of so-called 3D (dull, dirty and dangerous) tasks, improving workers’ health, safety and job satisfaction. Robot adoption can enable workers to move on to higher-skilled tasks such as production planning and supervision
  • Ease of programming - ready to use applications are getting more popular with the customers.
  • Ease of integration /plug and play - it is becoming easier to link robots into manufacturing production systems, with wide-ranging benefits for process optimization
  • Self-optimization: robots can increasingly adjust their parameters to adapt to realtime conditions, reducing the risk of defects and enabling manufacturers to improve process quality
  • Cloud Robotics – Storing data from multiple robots performing the same process in the cloud provides a storage of data on which to apply machine learning to optimise robots’ performance
  • Global competition requires continuous modernization of production facilities
  • Growing consumer markets require expansion of production capacities
  • Continued, strong demand from the automotive industry – investments in eco-friendly driving systems
  • Increasing demand from the electrical/electronics industry
  • Increasing demand from the metal and machinery industry, the rubber and plastics industry, and the food and beverage industry
• Three Laws of Robotics
  • A robot may not injure a human being, or, through inaction, allow a human being to come to harm
  • A robot must obey the orders given it by human beings except where such orders would conflict with the First Law
  • A robot must protect its own existence as long as such protection does not conflict with the First or Second Law
• Three Laws of Robotics Applications
  • Robots must continue to replace people on dangerous jobs. (This benefits all.)
  • Robots must continue to replace people on jobs people do not want to do. (This also benefits all.)
  • Robots should replace people on jobs robots do more economically. (This will initially disadvantage many, but inevitably will benefit all as in the first and second laws.)
• Industrial robot as defined by ISO 8373:2012:
  • An automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes, which can be either fixed in place or mobile for use in industrial automation applications
• Characterization
  • Automated
    • Repetitive actions
    • Intelligent artificial
  • Programmable
    • designed so that the programmed motions or auxiliary functions can be changed without physical alteration
  • Capable of movement on three axises or more
  • Mutli purpose
    • capable of being adapted to a different application with physical alteration
  • Physical alteration
    • alteration of the mechanical system (the mechanical system does not include storage media, ROMs, etc.)
• Role of Industrial Robots in Lean Manufacturing System
  • Somethings need consider
    • Flexibility required in the process
    • Budget available for the entire system
    • Human machine interface requirements
    • Allowable scrap rate
    • Life cycle of manufactured product to ensure acceptable ROI
    • Line automation requirements (% Automation Vs Manual)
    • Line production rate requirement
    • Space availability for robotic operations
    • Equipment reliability and downtime statistics
    • Flexibility of process desired
    • Product handling requirements
    • Cycle time requirements by station or operation
    • Human machine interface requirements
    • Number of product variants
    • Product handling requirements
    • Maintenance requirements
    • Conveyor and other transportation requirements
    • Repair time of equipment
    • Safety standards and ergonomics guidelines
  • Application
    • There is no wait time for operators. A material handling robot can be set up to multi-task, performing additional processing operations between operations
    • Robots have negligible downtime. Robots deliver a limited production loss compared to manual operations which tend to be error prone and inconsistent in terms of production rate, shifts, work breaks, etc
    • Robots are less expensive to operate, compared to human labor – especially when overtime is required. Robots’ return on investment can be quickly realized when there is high demand for the manufactured product
    • Robots are capable of highly accurate, highly repeatable tasks, which results in lowered scrap parts once the robot tasks are optimize
  • ROBOTS AND CYCLE TIME
    • Lack of part inventory for robots causing delays in production
    • Unsafe work conditions causing slow human operation in situations where robots and humans work in a cooperative environment
    • Poor equipment design resulting in wasted repair efforts
    • Bottlenecked stations causing part blocking or starvation at other stations
    • Individual robots over cycle causing entire station to be over-cycle
    • Wait times on other equipment causing robots to go over-cycle
    • Poor processing resulting in work overload on robots, operators or machines
    • Poor human machine interface causing delays in manufacturing
    • Poor software and controls engineering resulting in inefficient I/O and communication between equipment
• Typical applications
  • Material handling
    • The manipulator must be able to lift the parts safely
    • The robot must have the reach needed
    • The robot must have cylindrical coordinate type.
    • The robot’s controller must have a large enough memory to store all the programmed points so that the robot can move from one location to another
    • The robot must have the speed necessary for meeting the transfer cycle of the operation
    • category
      • Part replacement
        • Pick and place for printed circuit boards
        • Pneumatically powered robots are often utilized
      • Palletizing
        • stack parts one on top of the other
        • A press working operation, where the robot feeds sheet blanks into the press, but the finished parts drop out of the press by gravity.
        • Bin picking, die casting and plastic moulding
        • Machine operation
      • Machine loading or unloading
      • Stacking and insertion operations
  • Processing operation
    • Grinding
    • Mining
    • Spot welding
    • Continuous arc welding
    • Spray painting
    • Metal cutting and deburring operations
    • Various machining operations like drilling, grinding, laser and waterjet cutting and riveting
    • Rotating and spindle operations
    • Adhesives and sealant dispensing
  • Assembly
    • Batch assembly
      • As many as one million products might be assembled. The assembly operation has long production runs
    • Low-volume
      • In this a sample run of ten thousand or less products might be made. The assembly robot cell should be a modular cell.
  • Product inspection
  • Testing
  • Other applications
    • Medical
      • Routine examinations
      • Surgical procedures
    • Mining
    • Space
    • Underwater
      • Involves prospecting for minerals on the floor of the ocean
      • Salvaging of sunken vessels, repair the ship either at sea or in dry dock
      • Mobile firefighters to be used by air force and navy
    • Surveillance and Guard duty
      • military
      • power generating plants, oil refineries and other civilian facilities that are potential targets of terrorist groups
• Requirements
  • High endurance
  • High speed
  • Control resolution
    • the user might ask for a position such as 456.4mm, and the system can only move to the nearest millimetre, 456mm, this is the accuracy error of 0.4mm
  • Accuracy
    • How close does the robot get to the desired point
    • This measures the distance between the specified position, and the actual position of the robot end effector
    • Accuracy is more important when performing off-line programming, because absolute coordinates are used
  • Repeatability
    • How close will the robot be to the same position as the same move made before
    • A measure of the error or variability when repeatedly reaching for a single position.
    • This is the result of random errors only
    • Repeatability is often smaller than accuracy
• Defining parameters
  • Number of axes
    • two axes are required to reach any point in a plane
    • three axes are required to reach any point in space
  • Degrees of freedom
    • this is usually the same as the number of axes
  • Working envelope
    • the region of space a robot can reach
  • Kinematics
    • the actual arrangement of rigid members and joints in the robot, which determines the robot's possible motions
  • Carrying capacity or payload
    • how much weight a robot can lift
  • Speed
    • How fast the robot can position the end of its arm
  • Acceleration
    • how quickly an axis can accelerate
  • Accuracy
    • how closely a robot can reach a commanded position
  • Repeatability
    • how well the robot will return to a programmed position
  • ISO 9283 sets out a method whereby both accuracy and repeatability can be measured
  • Motion control
    • simple pick-and-place assembly, the robot need merely return repeatably to a limited number of pre-taught positions
    • For sophisticated applications, welding and finishing (spray painting), motion must be continuously controlled to follow a path in space, with controlled orientation and velocity
  • Power source
    • electric motors
      • faster
    • hydraulic actuators
      • stronger and advantageous in applications such as spray painting, where a spark could set off an explosion
  • Drive
    • some robots connect electric motors to the joints via gears
      • harmonic drive
    • joint directly
  • Compliance
    • his is a measure of the amount in angle or distance that a robot axis will move when a force is applied to it
• A selective taxonomy of robotics technology
  • Fixed and caged industrial robots
    • Designed to operate within physical barriers (includes Articulated arm, SCARA, Cylindrical and Cartesian)
    • Common tasks
      • Assembly
      • Welding
      • Riveting
      • Drilling
      • Fastening
      • Die casting
      • Picking/packaging/sorting
      • Painting/coating
    • Typical domain
      • Industrial manufacturing plants and factories
    • Established industry adopters
      • Industrial products manufacturing
      • Retail and consumer
      • Food and beverage
      • Electronics
      • Pharmaceutical
    • New and future industry adopters
      • Oil and Gas, pipeline distribution
      • Construction
      • All industries adopting robotic additive (3D printing) manufacturing
  • Collaborative robots
    • Designed to work side-by-side with humans
    • category
      • Collaborative stationary robots
        • Quickly programmable to augment/supplant manual tasks with humans at a stationary site
        • Common tasks
          • Materials handling
          • In-plant transportation
          • Product and asset inspection
          • Assembly
          • Robotic 3D printing
          • Picking/packing/sorting
          • Point-of-sale assembly
      • Collaborative Autonomous Mobile Robots (AMRs)
        • (designed to work closely with humans) and automated guided vehicles (AGVs)
        • Common tasks
          • Materials handling
          • In-plant transportation
          • Automated palletizing
          • Product/shelf scanning (in warehouse and retail environments)
          • Brick-laying
    • Typical domain
      • Industrial manufacturing
      • plants/factories
      • Warehouses
      • Distribution centers
      • Pipe networks
      • Drilling operations
      • Construction sites
    • Established industry adopters
      • Industrial products
      • manufacturing
      • Retail (warehouses)
      • Medicine (assisted surgery)
      • Semi-conductor
      • Electronics
      • Oil and gas industry
      • Healthcare
      • Law enforcement
      • Agriculture
      • Online retailers
      • Retail and consumer
    • New and future industry adopters
      • Service industries (e.g., hotels, hospitals, restaurants, retailers)
      • Retail (product scanning and assembly)
      • All industries adopting robotic additive (3D printing) manufacturing
      • Construction
  • Unmanned Aerial Vehicles (UAVs) for surveillance
    • Low payload industrial aerial drones (under 15lb)
    • Common tasks
      • Asset management
      • Asset inspection (e.g., power plants, wind turbines)
      • Product/part scanning capability
      • Autonomous data mapping
      • Contaminant detection
      • Inventory tracking/management (RFID-reading)
      • Aircraft inspection
      • Construction site illustration
    • Typical domain
      • Locales of large-area environmental surveillance (mines, forests, oil rigs, pipe-lines, construction sites, farms, etc.)
      • Warehouse/fulfillment centers
      • Airports
      • Energy assets (oil rigs, wind turbines, power plants)
    • Established industry adopters
      • Aerospace
      • Construction (illustration of sites) Real estate
      • Oil &Gas
    • New and future industry adopters
      • Agriculture (e.g., crops surveillance)
      • Power utilities (plant, transmission/distribution network inspection)
      • Mining
      • Industrial products manufacturing
  • Unmanned Aerial Vehicles for transport
    • High payload capacity 15lb+ (Note: 55 lb-payload is highest permitted by FAA, as or August 2016, for commercial delivery applications)
    • Common tasks
      • Retrieval and delivery of parts/packages
    • Typical domain
      • Private plants and premises
      • All other airspace permitting UAV use
    • Established industry adopters
      • Military
      • Construction
      • Emergency medical supplies/food delivery
    • New and future industry adopters
      • All industries requiring delivery of low pay-load items
      • Last-mile delivery of parts or end-user product
      • In-plant/warehouse inventory management and materials handling
      • Low payload tasks now carried out by airplanes/helicopters (e.g., spraying crops)
  • Robotic Exoskeletons
    • Wearable robotics systems designed to augment human physical performance
    • Common tasks
      • Assists manual human labor (e.g., lifting, gripping, carrying)
    • Typical domain
      • Manufacturing assembly lines
      • Warehouses
    • Established industry adopters
      • Industrial manufacturing (especially auto sector)
      • Retail & Consumer (in warehousing operations)
    • New and future industry adopters
      • All other industries requiring heavy manual labor, especially in the handling of materials)
• Robot programming and interfaces
  • Software
    • positional data
    • procedure
  • Positional commands
    • The robot can be directed to the required position using a GUI or text based commands in which the required X-Y-Z position may be specified and edited
  • Teach pendant
    • Robot positions can be taught via a teach pendant
      • Three deadman switch
  • Lead-by-the-nose
  • Programming
    • It is a path in space to be followed by the manipulator, combined with peripheral actions that support the work cycle
    • To programme a robot , specific commands are entered into the robot’s controller memory and this action may be performed in a number of ways
    • For limited sequence robots ,programming occurs when limit switches and mechanical stops are set to control the endpoints of its motions
    • A sequencing device controls the occurrence of the motions, which in turn controls the movement of the joints that completes the motion cycle
    • For industrial robots with digital computers as controllers three programming methods can be distinguished
      • Lead-through programming
        • Task is ‘taught’ to the robot by manually moving the manipulator through the required motion cycle and simultaneously entering the programme into the controller memory for playback.
          • powered lead-through
          • manual lead through
      • Computer-like robot programming languages
      • Off-line programming
  • Robot simulation
  • How to tech robots
    • manually guiding the robot to the positions of interest, or even along the desired paths or trajectories if human accuracy is enough
    • having simple ways to make use of CAD data whenever available
    • using different complementary modalities (paths of communication between the human and the robot), such as speech and gestures
    • choreographing the task movements, for instance loops and conditions, without requiring extensive programming competencies
    • means of describing acceptable variation, e.g., as expected or normal deviations from the nominal path
    • specification of how external sensing should be used for new types of motions or for handling unknown variations
• Stages of system integration
  • Physical
    • Selecting equipment based on dimensioning for mechanical size, load, and stress
    • Mechanical interfacing (locations, adapter plates, etc.)
    • Physical Electrical power supply (voltages and currents for robots, effectors, feeders, etc.)
    • Connections for analog signals (shielding, scaling, currents, binary levels, etc.)
  • Communication
    • Interconnections for single-bit digital I/O
    • Communication Byte-wise data communication, including latencies and bit rates
    • Transfer of byte sequences
  • Configuration
    • Configuration of messages between interacting devices
    • Configuration Establishment of services
    • Tuning for performance and resource utilization
  • Application
    • Definition of application-lever functions/services
  • Task
    • Application programming, using the application-level services
• Long term challenge
  • Human-friendly task specification, including intuitive ways of expressing permitted/normal/expected variations
  • Efficient mobile manipulation. Successful implementations and systems are available for both mobility and for manipulation, but accomplished in different systems and using different types of (typically incompatible) platforms
  • Low-cost components including low-cost actuation. Actuation of high-performance robots represent about a third of the overall robot cost, and improved modularity often results in a higher total hardware cost (due to less opportunities for mechatronic optimization)
  • Composition of subsystems. Inmost successful fields of engineering, the principle of superposition holds, meaning that problems can be divided into subproblems and that the solutions can then be superimposed (added/combined) onto each other such that the total solution comprises a solution to the overall problem.
  • Embodiment of engineering and research results. Use or deployment of new technical solutions today still starts from scratch, including analysis, understanding, implementation, testing, and so on
  • Open dependable systems. Systems need to be open to permit extensions by third parties, since there is no way for system providers to foresee all upcoming needs in a variety of new application areas
  • Sustainable manufacturing. Manufacturing is about transformation of resources into products, and productivity (low cost and high performance) is a must
• Structure and anatomy of industrial robot
  • Joints and links <U:\Private\Industrail Robot\joints and links.png>
    • Linear joint (type L joint)
    • Orthogonal joint (type U joint)
    • Rotational joint (type R joint)
    • Twisting joint (type T joint)
    • Revolving joint (type V-joint, V from the “v” in revolving)
  • Five common body-and-arm configurations
    • Polar configuration
    • Cylindrical configuration
      • axes form a cylindrical coordinate system
    • Cartesian co-ordinate robot
      • robot whose arm has three prismatic joints and whose axes are coincident with a cartesian coordinate system
    • Jointed-arm robot
    • SCARA
      • has two parallel rotary joints to provide compliance in a plane
    • Articulated
      • arm has at least three rotary joints
    • Parallel
      • arms have concurrent prismatic or rotary joints
  • three types of drive systems
    • Hydraulic drive
      • It gives a robot great speed and strength. They provide high speed and strength, hence they are adopted for large industrial robots.
      • This type of drives are preferred in environments in which the use of electric drive robots may cause fire hazards
      • Example: In spray painting
      • Disadvantages
        • Occupy more floor space for ancillary equipment in addition to that required by the robot.
        • There are housekeeping problems such as leaks
    • Electric drive
      • This provides a robot with less speed and strength. Electric drive systems are adopted for smaller robots
      • Robots supported by electric drive systems are more accurate, exhibit better repeatability and are cleaner to use
      • Electrically driven robots are the most commonly available
      • two broad categories
        • Stepper motor driven
          • Most stepper motor-driven robots are of the open loop type.
          • Feedback loops can be incorporated in stepper-driven robots.
        • Direct Current (DC) servo-motor driven
          • Servo-driven robots have feedback loops from the driven components back to the driver.
    • Pneumatic drive
      • Generally used for smaller robots
      • Have fewer axes of movement
      • Carry out simple pick-and-place material-handling operations, such as picking up an object at one location and placing it at another location
      • These operations are generally simple and have short cycle times
      • Here pneumatic power can be used for sliding or rotational joints
      • Pneumatic robots are less expensive than electric or hydraulic robots
  • CONTROL SYSTEMS
    • The Joint movements must be controlled if the robot is to perform as desired
    • Micro-processor-based controllers are regularly used to perform this control action
    • Controller is organised in a hierarchical fashion <U:\Private\Industrail Robot\Controller in a hierrchical fashion.png>
      • Limited Sequence Control
        • Elementary control type, it is used for simple motion cycles, such as pick and place operations
        • It is implemented by fixing limits or mechanical stops for each joint and sequencing the movement of joints to accomplish operation
        • Feedback loops may be used to inform the controller that the action has been performed, so that the programme can move to the next step
        • No servo-control exists for precise positioning of joint. Many pneumatically driven robots are this type
      • Playback with Point to Point Control
        • Playback control uses a controller with memory to record motion sequences in a work cycle, as well as associated locations and other parameters and then plays back the work cycle during programme execution
        • Point to point control means individual robot positions are recorded in the memory.
        • These positions include both mechanical stops for each joint and the set of values that represent locations in the range of each joint.
        • Feedback control is used to confirm that the individual joints achieve the specified locations in the programme
      • Playback with Continuous Path Control
        • Continuous path control refers to a control system capable of continuous simultaneous control of two or more axes
        • Greater storage capacity—the number of locations that can be stored is greater than in point to point and interpolation calculations may be used, especially linear and circular interpolations
      • Intelligent Control
        • An intelligent robot is one that exhibits behaviour that makes it seem intelligent
        • For example, capacities to interact with its ambient surroundings, decision-making capabilities, communication with humans; computational analysis during the work cycle and responsiveness to advanced sensor inputs
        • They may also possess the playback facilities of the above two instances.
        • Requires a high level of computer control and an advanced programming language to input the decision-making logic and other ‘intelligence’ into the memory
    • Each joint can feed back control data individually, with an overarching supervisory controller co-ordinating the combined actuations of the joints according to the sequence of the robot programme.
  • END EFFECTORS
    • known as robot hand
    • It is mounted on the wrist, enables the robot to perform specified tasks
    • Various types of end-effectors are designed for the same robot to make it
    • more flexible and versatile
    • two major types
      • Grippers
        • Grippers grasp and manipulate objects during the work cycle
        • Typically the objects grasped are work parts that need to be loaded or unloaded from one station to another
        • It may be custom-designed to suit the physical specifications of the work parts they have to grasp
        • In detail
          • Mechanical gripper
            • Two or more fingers that can be actuated by robot controller to open and close on a work part.
          • Vacuum gripper
            • Suction cups are used to hold flat objects
          • Magnetised devices
            • Making use of the principles of magnetism, these are used for holding ferrous work parts
          • Adhesive devices
            • Deploying adhesive substances these hold flexible materials, such as fabric
          • Simple mechanical devices
            • hooks and scoops
          • Dual grippers
            • Mechanical gripper with two gripping devices in one end effector for machine loading and unloading.
            • Reduces cycle time per part by gripping two work parts at the same time.
          • Interchangeable fingers
            • Mechanical gripper whereby, to accommodate different work part sizes, different fingers may be attached
          • Sensory feedback fingers
            • Mechanical gripper with sensory feedback capabilities in the fingers to aid locating the work part and to determine correct grip force to apply (for fragile work parts).
          • Multiple fingered grippers
            • Mechanical gripper with the general anatomy of the human hand.
          • Standard grippers
            • Mechanical grippers that are commercially available, thus reducing the need to customdesign a gripper for each separate robot application.
      • Tools
        • Tools are used to perform processing operations on the work part
        • robot uses the tool relative to a stationary or slowly moving object.
        • Application
          • Spot welding gun
          • Arc welding tool
          • • Spray painting gun
          • • Rotating spindle for drilling, routing, grinding, etc.
          • • Assembly tool (e.g. automatic screwdriver)
          • • Heating torch
          • • Water-jet cutting tool
  • Sensors
    • Internal sensors
      • Internal sensors are used to monitor and control the various joints of the robot
      • They form a feedback control loop with the robot controller.
      • Examples of internal sensors include potentiometers and optical encoders, while tachometers of various types can be deployed to control the speed of the robot arm
    • External sensors
      • These are external to the robot itself
      • They are used when we wish to control the operations of the robot with other pieces of equipment in the robotic work cell
      • External sensors can be relatively simple devices, such as limit switches that determine whether a part has been positioned properly or whether a part is ready to be picked up from an unloading bay
    • Micro Sensor board <U:\Private\Industrail Robot\micro sensor board.png>
    • Advanced sensor model <U:\Private\Industrail Robot\Advanced sensor in robot.png>
      • Tactile sensors
        • Used to determine whether contact is made between sensor and another object
        • touch sensors which indicate when contact is made
        • force sensors which indicate the magnitude of the force with the object.
      • Proximity sensors
        • Used to determine how close an object is to the sensor. Also called a range sensor
      • Optical sensors
        • Photocells and other photometric devices that are used to detect the presence or absence of objects. Often used in conjunction to proximity sensors
      • Machine vision
        • Used in robotics for inspection, parts identification, guidance and other uses
      • Miscellaneous category
        • temperature, fluid pressure, fluid flow, electrical voltage, current and other physical properties.
• The next robotics
  • The trends
    • Long volume high mix
    • Shorter cycles faster lanches
    • Increased need for automation and scalability in SMEs
    • Rising cost of downtime
    • Increased and sporadic human intervention
  • The challenges
    • Automation complexity and unpredictability
    • Shop floor disruptions and high engineering cost
    • Lack of robot integration and programming expertise
    • Higher lifetime TCO due to increase in planed downtime
    • Lost productivity to maintain safety
  • The enablers
    • Collaborative automation for greater flexibility
    • Better software for engineering efficiency
    • Easier to use robot with more intuitive programming
    • Advanced analytics and services for greater reliability
    • Collaborative automation to maintain safety and productivity
  • Innovations
    • Standardisation, Benchmarking and Regulation
      • Barriers to development, market and use
        • Lack of knowledge and of concern about standardisation issues (relevant also at the societal level) in the scientific and robotics community at large
        •  Lack of robotics specific political and regulatory drivers
        •  Lack of research and coordination actions to support industry, SMEs and research to include the environmental performance, the LCA, the 3Rs issues in their products, use cases and prototypes.
        •  Lack of coherent theoretical and functional framework of the domains, hence requirements and terminology are not consistent across stakeholders
        •  Large variety of robot architectures with different interaction capabilities
        •  Lack of reusability of the hardware and software modules across research/industrial organizations (lack or interoperability)
      • Main international robot standardisation issues
        • Safety standards
        •  Vocabulary standards
        •  Performance standards (safety-related first and then non-safety-related)
        •  Inter-operability (or modularity) standards
      • candidates for standardisation
        • Boundaries/classification between different robot domains as well as between robot and non-robot domains
        •  Standardisation of complex robot processes
        •  Human-robot interaction/collaboration standardisation
        •  Environmental impact certification
      • Keys issues of Standardisation for Robot Domains <Industrial%20robot/Standardisation%20of%20robot%20domains.JPG>
      • Standardisation areas
        • Current developments and opportunities
        •  Contributions to key technology readiness levels
        •  Future opportunities and why relevant
        •  Barriers to development
        •  Barriers to use
        •  Relationship to other topics and market domains
        •  Europe’s position in the standardisation process and European contributions
        •  Key stakeholders
      • standardization in Human Robot Interaction
        • Standardising robot’s spatial behaviours in response to human presence
        • Standardising robot’s noise level for robots in human environment
        • Standardising perception for HRI
        • Standardising generic and high-priority commands for HRI
        • Standardising interfaces for HRI with respect to type of service and media
        • Standardising gestures across different cultures
      • Main international robot standardisation projects
        • Ongoing international projects on robot standardisation <Industrial%20robot/Main%20international%20robot%20standardisation%20projects1.JPG>
        • Ongoing international projects on robot standardisation <Industrial%20robot/Main%20international%20robot%20standardisation%20projects2.JPG>
        • Relevant robot standards and documents <Industrial%20robot/Relevant%20robot%20standards%20and%20documents.JPG>
        • Relevant robot standards and documents <Industrial%20robot/Relevant%20robot%20standards%20and%20documents2.JPG>
      • Key standardisation targets
        • o
        • o
      • Further opportunities
        •  Standard (languages) for describing complex processes (similar to BPMN for business processes)
        •  Classification of complex processes
        •  Setting of quality reference levels (maybe in combination with benchmarking studies or competitions
    • MAR Technology Readiness Levels (TRLs)
      • the assignment of a TRL
        • Technology developments delivered as a module.
        •  Software modules delivered as part of a system.
        •  Systems consisting of multiple integrated technical elements.
        •  Platforms developed for a specific application.
        •  Deployed systems consisting of multiple platforms and support systems
      • TRL level steps
        • Level 1 - Basic Principles Observed
          • Basic technology research
            • Technical feasibility is assessed, basic principles are laboratory tested, technology requirements established, comparative reviews conducted, similar technology in other areas of use assessed.
          • Outcome
            • Technically detailed document which describes a product, application, technical feature or module and indicates the potential market requirement and likely technical requirements. Typically includes a detailed functional description, customer benefit analysis, ideas for realisation, and a detailed technical progression plan
        • Level 2 - Technology Concept Formulated
          • Basic technology research
            • Proof of principle developments including all engineering and systems development (e.g. algorithm development, physical schematics, and simulations). Critical parts of the system are tested in laboratory conditions to show how the technology operates and to provide insights into functional and practical limitations. Assessment of the integration between the proposed components
          • Outcome:
            • Bench demonstration of key technical concepts. Concept formulated with details of potential technical and development risks, including estimated resource requirements and test planning. Understanding of the design and engineering parameters and their interrelationships with the desired system parameters and key requirements
        • Level 3 - Experimental Proof of Concept
          • Technology development
            • Key technical elements developed as sub-systems to allow assessment of the core ideas and test practical realisation. Realisation of parts of the concept to assess the product (e.g. computer simualtion models, physical models, assessment of user interaction, consideration of deployment etc.). Bench development of key technical elements, features or modules able to validate the viability of the concept within the application parameters. Benchmark testing of system or module performance and comparative assessment with existing systems
          • Outcome:
            • Results and demonstrations that the concept is technically feasible, a first set of modules or components have been develop and tested to show performance compatible with the requirements. Interfaces developed between module and within systems. Detailed future technical scope of work identified
        • Level 4 – Technology Validated in Laboratory
          • Laboratory demonstration
            • Technology is demonstrated in a laboratory or development testing environment where testing parameters are designed to demonstrate the limits of the technology with respect to the requirements. Testing of system or major sub-systems validated against established technical benchmarks relevant to the end user. Testing of internal and external interconnectivity and integration between components in the system. Demonstration and understanding of the impact of the underlying design and engineering parameters on system performance. Initial normative testing with trained users to provide initial usability information
          • Outcome:
            • Demonstration that the technology is expected to scale to achieve end user relevant technical requirements or shows sufficiently improved performance, over existing systems, using established benchmarks. Usability testing results providing insight into areas for future development and their prioritisation. Clear plan for integration and identification of technical risks and their potential impact and severity. Documentation of technical development plan
        • Level 5 – Technology Validated in Relevant Environment
          • Laboratory Validation
            • Integrated system developed to perform in an environment that exhibits the main features of the expected operating environment. Performance is sufficient to validate that the technology could scale to achieve useful function in the intended application area. System contains all critical technical elements but not in the desired form factor (shape, size, power consumption etc.). Core functionality of product, feature or module can be demonstrated within system and operational context
          • Outcomes:
            • Identification and prioritisation of the major technical and application risks for the realisation of the product, feature or module. Performance characteristics are well understood. Clear evidence is delivered that the different technical components can be integrated into a unified component or system and can perform the intended function
        • Level 6 – Technology Demonstrated in Relevant Environment
          • External technology demonstration
            • Main functions perform sufficiently close to requirements such that technology can be validated in an environment that is equivalent to the operational environment. First field trials can be conducted when supported by developers to gain fine grained insight into the issues of product, feature or module development.
          • Outcomes:
            • The main functionality of product, feature or module can be demonstrated in a realistic environment under realistic test conditions. The concept is realised to a degree such that there is good usability and impact data, gathered from developer supported customer trials. System design documentation is complete. Expected development plan is complete including a detailed technical progression
        • Level 7 – System Prototype Demonstration in Operational Environment
          • Product prototype.
            • System performance is close to the end product, feature or module end user requirement. Development of prototypes with final technology sub-systems or close equivalents in a near to complete form factor (size, weight, power consumption etc.). All functionality required in the end system is capable of being demonstrated. Customer verification trials (independent of developer support) carried out.
          • Outcomes:
            • Significant reduction in technical risk. Product operation validated in actual end user environments. Product prototypes realised in close to final form and function. Plan developed for manufacture and deployment including full product testing and certification plan.
        • Level 8 – System Complete and Qualified
          • Close to market development
            • Development of production prototypes with final functionality and form factor. System is sufficient for end user testing in limited launch markets over extended periods of operation. Initial batch production of the product using end manufacturing processes for most parts. Product material and functional quality is at production levels. Product certifiable for use in chosen market.
          • Outcome:
            • Product validated for manufacture through extended customer trials, failure mode analysis complete. Certification obtained. All production processes validated and process variations assessed and tested. Full materials and part specifications complete. Product test data validated against end user requirements. Manufacturability fully assessed
        • Level 9 - Actual System Proven in Operational Environment
          • In production
            • Set up of production facilities, production test systems completed, volume components sourced.
          • Outcomes:
            • Series production and sales
        • TRL examples <Industrial%20robot/TRL%20examples.JPG>
• Few advantages
  • Robots never get sick or need to rest, so they can work 24 hours a day, 7 days a week
  • When the task required would be dangerous for a person, they can be do the work instead
  • Robots do not get bored. So the work that is repetitive and unrewarding is of no problem for a robot
  • Specific advantages in manufacturing
    • increased payload capacity
    • greater accuracy
    • increased reach and range of motion
    • improved speed and acceleration
    • faster communication with external equipment
    • better safety features and lower operational costs
  • It can readily be learned by shop personnel
  • It is a logical way to teach a robot
  • It does not require knowledge of computer programming
• Few disadvantages
  • Downtime regular production must be interrupted to program the robot
  • Limited programming logic capability.
  • Not readily compatible with modern computer based technologies
• Robot economics and safety
  • Economics
    • Purchase Price of the Robot
    • Special Tooling
    • Installation
    • Maintenance and Periodic Overhaul
    • Operating Power
    • Finance
    • Depreciation
    • Increased Productivity
    • Quality Improvement
    • Increase in Throughput
  • Safety
    • Accidents
      • The arm of a robot suddenly shot up as the oil-pressure source was cut off after the robot ended work.
      • A robot made a motion that was not part of its program
      • A robot started moving as soon as its power source was switched on, although its interlock conditions were still not ready
      • When operating alone, a robot destroyed the work it was to weld because of a mistake in program instruction
      • During hot summer weather, the arm of a robot sprang up, although it had otherwise been working normally
    • Reasons for safety
      • For programming, humans must enter the workspace of robots
      • Monitoring, tool changing, inspection, and other operations involving robots or their peripheral equipment are still done by humans
      • To correct problems with peripheral equipment, it is necessary to enter the workspace of robots
      • Since each robot installation is different, each presents unique application problems
      • In programmed or accidental halt, the operator might enter the workspace to inspect the work or investigate the trouble
    • Requirements
      • the design of a reliable control system to prevent malfunctions
      • the design of the workstation layout
      • training of plant personnel (programmers, operators, and maintenance staf
    • Guidelines
      • The robot working area should be closed by permanent barriers (e.g., fences, rolls, and chains) to prevent people from entering the area while the robot is workin
      • Access gates to the closed working area of the robot should be interlocked with the robot control
      • An illuminated working sign, stating “robot at work,” should be automatically turned on when the robot is switched o
      • Emergency stop buttons must be provided in easily accessible locations as well as on the robot’s teach box and control console
      • Pressure-sensitive pads can be put on the floor around the robot that, when stepped on, turn the robot controller off
      • Emphasise safety practices during robot maintenance
      • Great care must be taken during programming with the manual reaching mod
      • The robot’s electrical and hydraulic installation should meet proper standards
      • Power cables and signal wires must not create hazards if they are accidentally cut during the operation of the robo
      • If a robot works in cooperation with an operator, the robot must be programmed to extend its arm to the maximum when forwarding the parts so that the worker can stand beyond the reach of the arm
      • Mechanical stoppers, interlocks, and sensors can be added to limit the robot’s reach envelope when the maximum range is not required
    • Three levels of sensor system
      • Perimeter penetration detection around the workstation
      • Intruder detection within the workstation
      • Intruder detection very near the robot (a “safety skin”)
• End users market domains and robotics can apply
  • Logistics&transport(The details you can find in papers Robotics 2020)
    • People transport
    • Goods transport
    • Warehousing
  • Commercial
    • Mining & minerals
    • Utilities & services
    • Construction and demolition
    • Inspection and monitoring
    • Markets
  • Civil
    • Civil infrastructure
    • Environment
    • Search and rescue
    • Law enforcement
    • Emergency service
    • Science support
  • Consumer
    • Domestic appliances
    • Assistive living
    • Entertainment
    • Education
  • Agriculture
    • Livestock
    • Forestry
    • Fisheries
  • Healthcare
    • categories
      • Surgical
        • Systems that directly extend surgical dexterity and efficacy
        • Systems that enable remote diagnosis and intervention, both over long distances and in intra-corporeal settings
        • Systems that assist during diagnostic procedures
        • Systems that assist during surgical procedures
      • Therapy and rehabilitation
        • Functional replacement aids
        • Neuro-rehabilitation
        • Prosthetics
        • Mobility support systems
      • Training
      • Assistive robotics
    • Medium Term Requirements
      • Leg exoskeletons that adjust behaviour to the individual behaviour and/or properties and optimize their support according to the user or environment
      • Robots to be used in autonomous rehabilitation (e.g., game-based rehabilitation, upper limb post-stroke rehabilitation) should understand the user needs and reactions and adapt the therapy to them
      • Robots to assist mobility and manipulation should be able to interface naturally with people and guarantee safety and operability in “natural” environments
      • Rehabilitation robots designed to promote sensory-motor integration by providing bidirectional communication, including multimodal command input (myoelectric signals, inertial sensing) and multimodal feedback (e.g., electro-tactile, vibro-tactile and/or visual)
      • Arm/wrist/hand prostheses which automatically adapt to the patient, enjoying single fingers flexion/extension, thumb rotation, wrist DOFs
      • Prostheses and rehabilitation robots enhanced with semi-autonomous control to improve performance and/or decrease the cognitive burden to the user
      • Prostheses and rehabilitation robots that exploit vast online resources (information, storage, processing power) through Cloud Computing to implement advanced functions that are far beyond the capabilities of the on-board electronics and/or direct user control
      • Low-cost prosthetics and robotics designed through new additive or generative manufacturing methods (3D printing)
      • An at-home therapy relieving the intensity of neuropathic pain or phantom limb pain by means of advanced interpretation of the residual muscle signals, and with the aid of a robotic hand (less dexterity needed than in the previous case) and/or a VR environment.
      • Biomimetic control for physical surgeon robot interaction
      • Adequate mechanical actuation and sensing technologies for the design of dexterous force-feedback miniature robots and instruments for advanced and enlarged Miniinvasive surgery application.
      • Power harvesting for implantable micro-robots
      • integration of volitional residual subject motion, eventually supported by FES to enhance motor relearning, with robot control
      • Development of clinically applicable methods for movement restoration that reach beyond the commonly used state-machine, manually-tuned paradigms
    • Systems Development
      • Assistive and Rehabilitation
        • Definition of standards allowing enhanced interoperability of multimodal components including haptic force and tactile components and plug and play interfaces
        • Standardised system architecture, also including interfaces with home electronics, health care / hospital IT infrastructure and AAL systems
        • Surgery
        • Real-time OS and dedicated surgical robotic middleware
        • Plug and play interoperable surgical robotic standardized middleware
        • Workflow and ontology based procedure guidance and control
        • Architecture for linking real-time image processing and reconstruction to robotic middleware
        • Medically certified real-time OS and robotic middleware
    • Systems Integration
      • Surgery
        • Fully integrated force/tactile feedback devices, self-sensing
        •  Medically certified sensors, hardware components and software libraries for composing of new (procedure-specific) surgical robots and devices
        •  Vision-integrated surgical robot control, stereo-displays
        •  Standardized surgical cockpit for multiple disciplines
      • Rehabilitation
        • Systems combining force and tactile feedback
        •  Wearable systems with open interfaces for establishing collaborative body area networks, including assistive systems (e.g., prostheses) and other general-purpose sensing and communication devices (e.g., smartphones, smartwatches).
    • Modelling and Knowledge Engineering
      • Assistive
        •  Extension of object modelling through computer vision through other forms of sensing (infrared, tactile)
        •  Database of typical motion and interaction patterns during care processes, format should allow care personnel to verify correctness of learnt models
        •  From ontological learning to phylogenetic and social learning. Formal methods for knowledge integration also on a collaborative way with other robots (internet of things for problem solving)
        •  Models for safety verification, specifically taking into account (all) possible environment structures, human postures and motion etc. the robot could come into contact with
        •  Modelling of specific care processes that should be supported by the robot (carer interacting with environment and patient)
      • Surgery
        •  Surgical knowledge database and means for retrieval of relevant context-dependent knowledge for online feedback and guidance (suggesting optimal procedure or intervention approaches).
        •  Ontology to structure the knowledge of surgical procedures
        •  Use of atomic surgical steps and their composition to generate patient specific intervention plans
        •  Rules for robotic surgery planning  Interaction of learning and modelling paradigms
        •  Real-time FEM soft tissue modelling,
        •  Modelling of tissue damage for damage detection and prevention
        •  Online reconstruction of anatomic structures
        •  Modelling of intervention on tissue, muscles, organs
        •  Modelling of physiological and biological functions
        •  Intra operative tissue deformation modelling
        •  Compliant robots modelling, flexible robot-tissue interaction modelling
        •  Online identification of human motor control
        •  Task and surgical workflow modelling
        •  Flexible robots-tissues interaction modelling
        •  Task and surgical workflow modelling
      • Rehabilitation
        • Better models of human motor control
        •  Guidance cues through overlay technology, library with expert procedure execution samples
        •  Semi-autonomous prosthetic reaching, grasping and manipulation
        •  Interfaces for exploiting the vast knowledge resources that are available online (object model repositories and know-how instructions)
        •  Afferent/natural feedback in prosthetics
      • Assistive
        •  Standardized methods such as Wizard-of-OZ to verify target functionality with end users before starting new hardware and software developments
        •  Use of existing research platforms to verify functionality before building dedicated assistive device
        •  Design concept to adjust robot hardware and functionality to individual user requirements
        •  Methods to create functional robot design, i.e. visual appearance that mirrors the robot’s abilities
      • Surgery
        •  Specific design methodologies for sterilise-able and safe surgical robots
        •  Intra-corporeal robotic system design methods
        •  Multimodal VR training platforms design and validation methods
        •  Public databases of surgical procedures (images, forces, physiological parameters and other data sources) for requirement distillation.
        •  Guidelines, equipment and algorithms for setting up a Smart OR that gathers all relevant data for requirement distillation or validation.
        •  Principled methods for analysis of the workspace, surgical workflow, surgical tasks and surgical skill for requirement distillation.
        •  Reproducible artificial mock-ups that replicate the behaviour of the relevant properties of real organs or body parts for use in requirement distillation, benchmarking and validation
  • Manufacturing
    • Categories
      • Production
        •  Electronics assembly
        •  Automotive parts manufacture and automotive assembly
        •  General production of metal, rubber or plastic parts.
        •  Food processing
      • Food
      • SME manufacturing
        •  The need to design systems that are cost effective at lower lot sizes.
        •  The need to design systems that are intuitive to use and are easily adapted to changes in task without the need to use skilled systems configuration personnel.
        •  The ability to work safely in close physical collaboration with human operators
    • robotics can apply
      • lean and agile manufacturing,
      •  miniaturised assembly,
      •  introduction of Cyber-physical production systems (CPS) for example the “Industrie 4.0” programme in Germany,
      •  introduction of intuitive and adaptive manufacturing systems including intuitive programming and tasking,
      •  deployment of Dual-arm, lightweight, low-cost compliant manipulators,
      •  increased cooperation with humans including physical cooperation,
      •  novel business models and deployment strategies.
    • Barriers to Market
      •  User awareness of robotics technology capabilities
      •  User concerns about system complexity
      •  Cost of ownership and return on investment
      •  Flexibility and adaptation of systems to changing needs
    • Key Technology Targets
      •  intuitive handling,
      •  easy to use,
      •  easy to (re-)configure,
      •  adaptable,
      •  provide safe perception and safe actuation with certified components and systems,
      •  provide an ergonomic design for human interaction
      •  are energy efficiency, provide energy autonomy and short charging cycles
      •  provide privacy for personal data gathered during human interaction
    • Systems Development
      • Modelling and Knowledge Engineering
        • Mid term
          •  Standard software for modelling environment / robot cell / robot line, including sensors and actuated components.
          •  Physics engine for real time information on physical quantities in robot application.
        • Long term
          •  Multi physics enabled model of robot application, including all relevant effects (e.g. sol id, fluid, electrical, magnetic, thermal, etc.)
          •  Real time availability of all relevant physical information on environment and application, to be used as a basis for real time adaptive motion planning, prediction and control
          •  Domain specific ontologies for application description
    • Mechatronics
      • Mechanical Systems
        •  Appropriate design for physical interaction, design principles for safe interaction
        •  Zero cable robot
        •  H igh performance robot based on low cost / low accuracy components
        •  Appropriate design of drive components and kinematic structures for physical interaction, design principles for safe interaction
      • Actuators
        •  Low cost, modular drive systems with integrated sensing (e.g., position, torques)
        •  Low power consuming drives and control methodologies
        •  Multi fingered industrially proven robust grippers
        •  Safe components (SIL / performance level D)
        •  Light weight, intelligent structures (with sensors integrated)
        •  Lightweigh t actuation principles, high power density, low friction gears with high transmission ratio
        •  Direct drives for high loads
      • Sensors
        •  New safety rated sensors for Physical Human Robot Interaction (e.g. Capable of returning positions of objects / operators in sc ene)
        •  Sensor redundancy for safety rated applications, e.g. Information fusion from diverse sensing types
        •  General 3D Work/Object scan and monitoring for real time path correction
        •  Use of information available in the area from distributed sensors, e.g. to tre at occlusions and lift perspective redundancy of 3D perception
      • Control
        •  New control paradigms with constraint based optimisation and use of task redundancy for best trade off among different objectives (e.g. productivity, manipulability, safety, ergonomics.
        •  Sensor based control with adaptation to unforeseen situations (e.g. obstacles, humans...)
        •  Online control based dynamic path re planning (e.g. from sensor information)
    • Safety
      •  Methods and tools to adapt robot motion to injury risk knowledge (see TG pHRI)
      •  Intelligence and decision-making capability for autonomously generating dynamic safety zones based on live robot movements (as opposed to pre-programmed motions
    • Perception
      • Interpretation
        •  Combination of various sensing technologies to achieve safety-rating of the information
        •  Integrate new sensing capabilities into existing systems as safety-rated systems
      • Sensing
        •  Use sensor information redundancy to detect faulty situations (e.g. sensor failures, control failures, etc.)
        •  Combination of various sensing technologies to achieve safety-rating of the information
        •  Bringing new sensing capabilities into routine industrial use as safety-rated systems
        •  Self-calibrating safety sensors
    • Navigation
      • Localisation
        •  Task appropriate indoor positioning in industrial environment, e.g. combination of platform + manipulator
      • Motion Planning
        •  Capability to autonomously generate alternate motions to avoid collisions (safety rated algorithms)
        •  Autonomous path planning with obstacle avoidance in cluttered environments
        •  Reactive motion planning, i.e. online planning revision, based on current sensor information
    • Cognition
      • Learning Development and Adaptation
        •  Learning Affordances for Robot Object Interaction.
        •  Task learning by demonstration, human-robot and robot-robot interaction
      • Natural Interaction
        •  Passive and Active Safety of Mobile Manipulation in Human Workspace
        •  Ergonomic Evaluation, Analysis of Workspace Sharing Systems
        •  Instruction and Assistance in Semi-Automated Assembly Processes
        •  Intelligence and decision-making capability for autonomously generating dynamic safety zones based on live robot movements (as opposed to pre-programmed motions)
• System abilities
  • Adaptability
    • Parameter
    • Component
    • Task
  • Configurability
  • Dependability
    • Failure
    • Functional
    • Environment
    • Interaction
  • Interaction Ability
    • Human robot
    • Robot robot
    • Human robot interaction safety
    • Social interaction duration
    • Social interaction range
    • Social interaction role
  • Perception Ability
    • Tracking
    • Recognition
    • Scene
    • Location
  • Cognitive ability
    • Action
    • Interpretive
    • Envisioning
    • Learning
    • Reasoning
  • Decisional Autonomy
  • Manipulation Ability
    • Grasping
    • Holding
    • Handling
  • Motion A bility
    • Constrained
    • Unconstrained