Fakultät Maschinenbau
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This article discusses the systematic design of the robot feedback for users in a stationary human-robot cooperation scenario. The design cycle starts with the analysis of related work and the capabilities of the human-robot system. It is followed by an online questionnaire with 100 participants to discover relevant information and modalities. A final experiment in the human-robot working cell with 13 subjects evaluates the usability of the robot feedback design.
In Mensch-Roboter-Arbeitszellen werden Teile eines Produktionsablaufs von einemv Menschen, andere von einem kollaborativen Roboter und wieder andere kooperativvin einem gemeinsamen Arbeitsbereich durchgeführt. Bisher werden das Potenzialvund der Mehrwert dieser Systeme noch nicht ausgeschöpft, weshalb ein systematischer Ansatz zur Definition der Arbeitsabläufe unerlässlich ist. Der Beitrag präsentiert einen iterativen, menschzentrierten Entwicklungszyklus für interaktive Mensch-Roboter-Anwendungen. Dieser Zyklus ergänzt die bisher verwendeten Ansätze der Automatisierung. Er beinhaltet Methoden der virtuellen Realität, um die Arbeitsabläufe iterativ evaluieren und dadurch den Entwicklungsprozess effizient gestalten zu können.
This article discusses the relevance of the motion behavior and adaptation of a collaborative robot for human-robot cooperation. Two experiments on cooperative assembly are shown. First, a human-human experiment with defined test conditions evaluates the aspects of distance, nearest body part, and predictability as significant. Second, a human-robot experiment shows that fixed trajectories and conservative dynamic parameters lead to a quick gain of confidence of the participants. Besides, the data shows that a realistic use case with complex tasks is key to evaluate the impact of motion parameters.
In human-robot assembly cells, some tasks in a production process are carried out by the user, others by the robot, and some tasks are carried out in collaboration. However, the potential and advantages of such systems have not yet been fully harnessed. A systematic approach is needed to design cooperative workflows. Here, an iterative, user-centred development cycle is presented for interactive human-robot applications, complementing traditional automation. Virtual reality development is applied to evaluate the workflows to be defined and to develop a more efficient overall design cycle.
Virtual reality is a powerful tool for industrial applications. The article at hand addresses designers of industrial virtual environments. It summarizes key aspects to design immersive and coherent virtual environments. Furthermore, relevant influencing factors for a high quality virtual environment and tools to quantify this quality are presented. So far, a methodology to design, evaluate, and transfer knowledge from virtual environments into reality has been missing and is of high value for industrial applications. The proposed methodical approach includes the steps application analysis, technology selection and integration, design of virtual environment, evaluation of simulator quality, as well as discussion of the real-world validity. The method is shown on the example of a virtual human-robot working cell used to analyze the human perception of robot behavior during mutual assembly processes. The quality of the virtual environment is evaluated to be adequate for those purposes and the transfer of knowledge gained in virtuality on a corresponding real-world application is discussed. To the best of our knowing a system like the presented one, including full-body tracking, finger tracking, a virtual avatar and a head-mounted display has not been used for industrial use cases and human-robot cooperation before.