TY - CHAP A1 - Bergner, Christian A1 - Akan, Ferhat A1 - Schmidt-Vollus, Ronald A1 - Heß, Peter A1 - Deuerlein, Christian T1 - Portable Safety System using Radar for Flexible Human-Robot-Collaboration in a Real Semi-automated Production Line T2 - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems ROBOVIS - Volume 1 N2 - The implementation of a reliable vision system for a human-robot environment is a key issue for the collaborative production industry. The core challenge of human-robot collaboration is to ensure safety. Furthermore, a flexible safety system is required for frequently changing applications and work areas. This paper focuses on the development and application of a workspace monitoring system for safeguarding using radar sensors. The human-robot collaboration cell is designed to enable a flexible integration regardless of the work location. This results in higher productivity. Since no separating protective devices are provided for the cell, safety-oriented monitoring and control by suitable safety sensors is required. The methods to minimize the size of the necessary safety distance will be presented. The experimental validation shows that this safety system with radar sensors performs a reliable workspace monitoring system. The high robustness, reactivity and flexibility of the safet y concept makes this system usable for collaborative tasks in a real industrial environment. KW - Human-Robot-Collaboration, Safety System, Radar, Flexibility, Portability, Standard-CE. Y1 - 2021 SN - 978-989-758-537-1 U6 - https://doi.org/10.5220/0010645800003061 SP - 67 EP - 76 PB - SCITEPRESS - Science and Technology Publications ER - TY - JOUR A1 - Kofer, Daniel A1 - Bergner, Christian A1 - Deuerlein, Christian A1 - Schmidt-Vollus, Ronald A1 - Heß, Peter T1 - Human–robot-collaboration: Innovative processes, from research to series standard JF - Procedia CIRP N2 - Sensitive robots are an innovative technology of tomorrow ´s production. The Human–Robot-Collaboration (HRC) with its variable combination of unique skills represents a future-oriented form of work. Yet, there is a lack of experience in process realization, safety requirements are often not given and economic efficiency is still missing. There are a lot of innovative process solutions in research but industrial conditions are less considered. In this work, the approaches for the realization of standardizable HRCs for assembly operations in the automotive sector will be outlined. The aim is to present simple ways from the idea to series production by considering permitted limits. Based on an industrial application, innovative collaborations are realized with only few hardware and software components. In this context, standard compliant safety is ensured through internal system features and adjusted component designs. Additionally, an approach for HRC safety through real-time monitoring of the endeffector area is presented. As an outlook there is a guideline for HRC realization. KW - Human–robot-collaboration Hybrid assembly Safe operation Ergonomics Y1 - 2021 U6 - https://doi.org/10.1016/j.procir.2020.09.185 SN - 2212-8271 VL - 97 SP - 98 EP - 103 PB - Elsevier BV ER - TY - JOUR A1 - Müller, Fabian A1 - Deuerlein, Christian A1 - Koch, Michael T1 - Cyber-physical-system for representing a robot end effector JF - Procedia CIRP N2 - Programming by Demonstration (PbD) is a method to program robots through the performance of a task by humans. Most implementations are online methods that use visual or force feedback of the demonstrator. However, we developed an offline programming approach for PbD with a special input device within an Augmented Reality Environment. Therefore, this paper aims to answer how the characteristics and functionality of the end effector of a jointed-arm robot can be represented by a haptic input device in order to perform PbD. The PbD process is first carried out on a digital twin of the robot, visualized to the user in real physical space by means of augmented reality technology. The programming of the digital twin can later be transferred to the real robot. The haptic input device in this context is the main part of the Cyber-Physical-System (CPS), which enables the user to interact with the virtual robot. Therefore, the specification of the mechanical and software components of the CPS is of main importance. Within this paper, strategies for the implementation of shape and function abstraction, as well as for ensuring communication, have been worked out. The physical shape of the CPS is kept generic and is only subject to ergonomic restrictions. However, Augmented Reality overlays the physical shape with an exact digital image of the end effector used later in the process. Nevertheless, the physical characteristics of the real robot should be represented as real as possible by the CPS. Therefore, the CPS is equipped with various sensors and actuators. With the CPS it is possible to determine contact forces and to manipulate objects to a certain extent in order to teach gripping strategies to the digital twin. An operating system was developed for communication and control of the electronic components. For the validation of the functionality of the CPS an exemplary PbD process was developed, the results were analyzed and evaluated. KW - industrial robot; KW - cyber physical system KW - programming by demonstration KW - digital twin KW - augmented reality Y1 - 2021 U6 - https://doi.org/10.1016/j.procir.2021.05.071 SN - 2212-8271 VL - 100 SP - 307 EP - 312 PB - Elsevier BV ER - TY - CHAP A1 - Müller, Fabian A1 - Deuerlein, Christian A1 - Rücker, Daniel A1 - Koch, Michael A1 - Hess, Peter A1 - Hasse, Alexander T1 - Framework for automated program generation of HRC applications N2 - The main idea of this paper is to present a framework for an easy and intuitive program generation for human-robot collaboration implementations. This framework consists of three key ideas, which make up the three main sections. The first section is about automated task allocation with focus on economics. The second part is about intuitive robotic teaching with an offline motion capture (MoCap) tool and the third section features an automated program generation of the paths and the human-robot collaborative aspects of the application. With this framework, we provide a method to program human-robot collaborative (HRC) applications for future industry purposes. KW - human-robot collaboration KW - task allocation KW - motion capture KW - automated programing Y1 - 2018 UR - https://ieeexplore.ieee.org/document/8470631 SN - 978-3-8007-4699-6 VL - 2018 SP - 435 EP - 441 ER - TY - JOUR A1 - Mueller, Fabian A1 - Deuerlein, Christian A1 - Koch, Michael T1 - Intuitive Welding Robot Programming via Motion Capture and Augmented Reality JF - IFAC-PapersOnLine N2 - In this paper the authors present a method to equip small and medium enterprises with a highly flexible product line to automate their production through a robotic welding application. The goal is to program a welding robot offline, similar to manual welding. To create the welding application, the workpiece is placed on a programming table and the welder traces the sheet metal joints with a position tracked pointing device. For simulation of the process, virtual weld seams are simultaneously displayed in the video stream of the Augmented Reality camera. The trajectories of the virtual welds are recorded, converted into executable robot code, loaded onto the robot therefore making an immediate machining of the workpiece possible. With this method, robot programs can be created very quickly, easily and cost-effectively, which makes robot production economical even for mass-individualization. Y1 - 2019 U6 - https://doi.org/10.1016/j.ifacol.2019.10.045 SN - 2405-8963 VL - 52 IS - 10 SP - 294 EP - 299 PB - Elsevier BV ER -