Mensch-Roboter-Zusammenarbeit Gestaltung sicherer, gesunder und wettbewerbsfähiger Arbeit 29 März 2017, BAuA-Dortmund

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1 Mensch-Roboter-Zusammenarbeit Gestaltung sicherer, gesunder und wettbewerbsfähiger Arbeit 29 März 2017, BAuA-Dortmund 3.Workshop D. Surdilovic, A. Bastidas-Cruz, J. Radojicic und P.Heynne: Interaktionsfähige intrinsisch sichere Roboter für vielseitige Zusammenarbeit mit dem Menschen Dragoljub Surdilovic, Fraunhofer IPK Berlin Laboratory for RobotSupportedCooperativeWork

2 INFLEXIBLE INDUSTRIAL ROBOTS Actually losing jobs in Assembly Lines Bloomberg News : February 25, :00 AM CET Updated on February 25, :07 PM CET Mercedes Boots Robots From the Production Line With customization key to wooing modern consumers, the flexibility and dexterity of human workers is reclaiming space on Mercedes s assembly lines..

3 HUMAN-ROBOT-ENVIRONMENT INTERACTION Interactive, collaborative, cooperative robots Industrial assembly scenarios High force/inertia robotic systems Stiff real/virtual industrial environment Challenging problems: Safe and stable interaction Low-admittance rendering Widely-accepted design framework Understanding-planning and programming of interactive tasks Human assistant, extender, amplifier, intelligent assist device

4 LABORATORY FOR RSCW AT IPK Pioneering work in force and compliance control (since 1986) Challenges: sampling time, quantization, time lags. Actual HRI summary: Everybody moves and guides a robot.

5 STABLE ROBOT-ENVIRONMENT INTERACTION Implicit (position-based) hybrid position/force control MARS II ARCOS Control System (1991)

6 COMPLIANCE CONTROL Impedance-based steering wheel assembly (EUREKA-SEMOS, 1993)

7 Basic goal : Target Impedance behaviour ) ( ) ( ) ( 0 t 0 t 0 t x x K x x B x x M F ) )( ( ) )( ( ) ( 0 t t 2 t 0 t x x K B M x x Z F s s s s IMPEDANCE CONTROL RCC Controlled RCC

8 Challenge: ESA Columbus A&R Testbed System SPARCO Robot Control System Development ( ) Industrial robot technology + sensor-based control : compliance control position based impedance and force control (integral damping control )

9 MANUAL GUIDANCE (BBC 1995)

10 CLASSICAL TASKS: GRASPING AND INSERTING

11 STABILITY OF INTERACTION ROBUST CONTROL FRAMEWORK Extension to physical human-robot interaction (phri)

12 Alin Albu-Schäfer et al. (2002) Passivity based dynamic interaction control of elastic joint robots SEA serial elastic drives

13 INDUSTRIAL ROBOTS - INTERACTING WITH A GODZILLA

14 HRI INTERACTION KEY ISSUE? Safety, stability, stability and safety, performance, robustness, acceptance? Critical issues for acceptance: performance and transparency!

15 THINGS THAT SHOULD BE NEVER BE DONE! Improperly designed controller may be destabilized by human Maximum target bandwidth < one half of the position control bandwith

16 COBOTS SEMINAL DEFINITION A computer-controlled robotic apparatus that assists a human worker, as on an assembly line, by guiding or redirecting motions initiated by the worker who provides the motive power. Cobots interact with people by producing software-defined ``virtual surfaces'' which constrain and guide the motion of the shared payload, but add little or no power. Ergonomic as well as productivity benefits result from combining the strength and computer-interface of the cobot with the sensing and dexterity of the human worker. (M. Peshkin and E. Colgate LIMS, Northwestern University 1999)

17 COBOTS DEFINITIONS IFA, DGUV: Kollaborierende Industrieroboter sind komplexe Maschinen, die Hand in Hand mit Personen zusammenarbeiten. In einem gemeinsamen Arbeitsprozess unterstützen und entlasten Roboter den Menschen. Ein Beispiel: Ein Roboter hebt und positioniert ein schweres Werkstück, während eine Person leichte Eisenhaken anschweißt. Bei dieser Arbeitstätigkeit besteht zwischen der Person und verschiedenen Roboterelementen beispielsweise Roboterarm, Werkzeug eine große räumliche Nähe. Dabei kann es zu direktem Kontakt zwischen Roboter und Personen kommen. Eine vergleichbare Situation findet man bei mobilen Servicerobotern, die in steigender Zahl in der Arbeitswelt und in öffentlichen oder privaten Umgebungen nahe neben Personen eingesetzt werden.

18 Collaborative Robots, co-robot, ( Cobots, Kobot, Koboter) Close human-robot cooperation including physical contact and interaction (majority of works) LIMS, IPK

19 What is a collaborative robot Cobot? Cobot s seminal idea - Peshkin and Colgate (90s) focus on passivity, CVTs, virtual walls etc. - INTRINSIC SAFETY 2-DOF Manipulator vs. 2-DOF Cobot CVT a) Passivity : human moves, cobot redirect

20 COBOT - Working principle

21 CVT-Principles - I Transmission sphere Cobot Colgate, Peshkin non-holonomic manipulator - Nakamura Freewheels mechanism PADYC - Trocaz

22 b) CVT-Principles - II Brakes PTER (Book) Differential gear - Surdilovic

23 IPK s Cobot Prototype (2003)

24 IPK S COBOT PROTOTYPE WITH CVT BASED ON DIFFERENTIAL GEAR Good potential but relatively low industrial interest for passive (CVT) cobots?

25 INDUSTRIAL APPLICATIONS (ADVANCED MATERIAL HANDLING SYSTEMS POWER ASSIST SYSTEMS - KOBOT) Admittance displays motion commands given by operator via force sensor

26 KOBOT - VIRTUAL WALLS (VIRTUAL FIXTURES) RENDERING BMBF Grant KobotAERGO (2013)

27 Dances with Cobot Der mit dem Cobot tanzt (Produktion Technik, No. 49, December 2007) Technical picture of the week What does it feel like to dance tango

28 FIRST INDUSTRIAL APPLICATIONS (WISCHEU GMBH, WACKER CHEMIE AG, EEPOS GMBH)

29 ACTUAL WORK ADAPTABLE, PERSONALIZEABLE COBOTS KOBOT AERGO (BMBF )

30 ACTUAL WORK ADAPTABLE, PERSONALIZEABLE COBOTS KOBOT AERGO (BMBF )

31 C3: Collaboration, cooperation, coexistence Cooperation (connective, group value new skills!) Collaboration (collective, individual value.)

32 RSCW time/space matrix Collaboration (collective, individual value.)

33 WORK in TEAM : H-R-H interaction in automotive industry

34 COBOT development for assembly of windscreens (VW EU IP PISA project)

35 phri with industrial robot without F/T sensor (whole arm interaction) Constraints on joint-torques and power during motion and interaction (cartesian force 150 N) Steady-state (pose) interaction Path motion control of amplitude constrained systems using control errors governor

36 Safe/Stable phri with industrial robots? Principially possible (smaller light-weight robots) Backdriveability essential (not ensured) Peformance can not be guaranteed (IMPACT) Additional advanced safety sensors highly recommended Acceptance critical (heavy robots) Distance to robot (process) critical Design of new intrinsically safe robot- quite favorable and motivated, and/or increase safety of IR at affordable costs! Echord RODIN (2013)

37 ROBO-PARTNER IP-FP7

38 BREAKTHROUGH AURA BIGGEST COLLABORATIVE ROBOT WORLD-WIDE (110 KG)

39 Modular interfaces embeded F/T and other sensor (ISO ), multimodal operation, easy-installation, calibration, personalization.. (patent pending) Physical human-robot interaction interface hands-oncontrol

40 ROBO-PARTNER hands on payload manual guiding

41 NEUE (DRITTE) ENTWICKLUNGSPERSPEKTIVE: NEUARTIGE INTRINSISCH SICHERE KINEMATIKEN

42 Intrinsically Save Drives Hybrid (dual actors: velocity + torque tracking) drives

43 Leightweight, redundant, balanced and intrinsically safe robot for phri

44 ACTUAL WORK: I3 (INTUITIVE, INTERACTIVE, INSTRUCTIVE) PROGRAMMING FRAMEWORK

45 IPK S I3 PROGRAMMING FRAMEWORK Standard multi-chanels communication and SW libraries (voice, vision, gesture devices etc.) and task-oriented programming (INSTALL, APPROACH, ATTACH) Icon based programming Scratch and SNAP! (visual programming, education, MITLab/Berkley development, open source, Adobe ActionScript + 0MQ binding) Background: ROS packages (open source): CURL++ TOP MongoDB TOP- Mock

46 Multi-modal channels for programming Various novel gesture devices, speech recognition HRI interface package (HW and SW) for manual-guiding (programming)

47 MULTI-MODAL - NATURAL SPEECH/GESTURE BASED TASK-ORIENTED PROGRAMMING

48 INSTEAD OF A CONCLUSION : LARGE BACKGROUNDS FOR HRI DYNAMIC DEVELOPMENTS FASTER TRANSFER TO INDUSTRY FEASIBLE MORE THAN EVER 30 years guiding/working with a robot/cobot