ERF2015 WORKSHOP. Flexibility and dexterity in industrial robots: Demonstrators of new frontiers in industrial applications

Transcription

1 ERF2015 WORKSHOP Flexibility and dexterity in industrial robots: Demonstrators of new frontiers in industrial applications 12 th March 2015, Vienna, Austria Compliance robot control for enhanced industrial robots dexterity and flexibility D. Surdilovic, Fraunhofer IPK Berlin Laboratory for RobotSupportedCooperativeWork

2 Objectives Nowadays, Future Industrial Robots Dextereous Manipulation and Flexibile Automation for Manufacturing Applications Ambituous, nevertheless logical demands: Dextereous Manipulation : Area of robotics in which multiple manipulators or fingers cooperate to grasp and manipulate objects; Flexible Automation : Ability for a robot or system to be quickly and easily re-tasked to change product design for both low and high mix manufacturing (capacity-volume and product variants flexibility) Robots are currently incapable of competing with human to perform dexterous tasks (contact tasks) in a flexible manner! Role of compliance (dexterity flexibility)?

3 Active compliance control a 30 years old idea (Mason 1985), still not alive in industrial (conventional) robotics

4 INTERACTING WITH A GODZILLA

5 WHICH SENSE IS CRUCIAL FOR CONTACT?

6 LABORATORY FOR RSCW AT IPK Pioneering work in force and compliance control (since 1987) Challenges: sampling time, quantization, time lags. Actual HRI summary: Everybody moves and guides a robot.

7 Research on Active Compliance Control (30 years after) : Position based impedance and force control Target Impedance/Force Position based impedance/force control C-frame Robust control design Matlab Toolbox Planing and programming Open-Control (C5Gopen, CartPose cl = hl.getpose(); KUKA RSI, ORiN etc.) larm. setcompliancegains(engage_config); larm.setcomplianceframe(cartpose()) larm << MoveLin(cl); CURL++ (ROS)

8 AUGMENTED REALITY For Compliance Control Testing (including process forces modelling/experiments)

9 CLASSICAL TASKS: GRASPING AND INSERTING

10 CRITICAL EDGE FOLLOWING Combined Force/Impedance Control

11 Things that should never be done! Improperly designed controller may be destabilized by human Maximum target bandwidth < one half of the position control bandwith

12 DEXTEREOUS CONTACT TASK N40 COCKPIT SET Several latching mechanisms Complex hand motion Compliance, motion and force control - key strategy Variation of task execution Difficult (impossible) conventional robot programming and execution Limitations of industrial add-on tools (e.g. active and passive compliant devices)

13 LIFE CYCLE TESTING

14 CONSIDERABLY SLOWER ROBOT EXECUTION (SAME FORCE LEVEL) Considerable amount of damping needed to stabilize the interaction Relatively slow motion to keep smaller interaction forces and torques Human task: Variable impedance, rapid change of strategies Robotic execution considerably slower (30 s cycle) vs. human operation (app. 5 s) Development of human-like strategy Action termination based on interaction force/torque monitoring

15 Human-task Improved robotic testing

16 Dexterous Advanced Robot Programming Planning and Programming main bottleneck for wider applications of dual-arm robots in industry Bi-Manual human operations Central interference hypothesis - content-dependence (Hazeltine 2006) - Bottlneck is in the planning of the movement (motor preparation)

17 Mimic human motion Simple planning and programming of human-like bimanual motion ( Callosum control) -Symetric/asymetric, congruent/non-congruent motions -Arms collision monitoring and avoidance

18 EFFICIENT DUAL-ARM INSERTION (INTERACTION BETWEEN TWO COMPLIANT ARMS)

19 BI-INSERT(SUBJECT& HL, SUBJECT& HR, DOUBLE SPD=INSERT) CURL++ (ROS PACKAGE) biinsert is resolved to: CartPose cl = hl.getpose(); larm. setcompliancegains(engage_config); larm.setcomplianceframe(cartpose()) larm << MoveLin(cl); CartPose cr = hr.getpose(); larm. setcompliancegains(engage_config); rarm.setcomplianceframe(cartpose()) rarm << MoveLin(cr); Engage CartPose cl = hl.getpose(); larm. setcompliancegains(insert_config); larm.setcomplianceframe(cartpose() +Vector3(0,0,- d/2))) larm << MoveLin(cl); CartPose cr = hr.getpose(); larm. setcompliancegains(insert_config); rarm.setcomplianceframe(cartpose()+vector3(0,0,-d/2)) rarm << MoveLin(cr); Insert larm.execute(); rarm.execute();

20 FLEXIBLE AUTOMATION + DEXTEREOUS ARMS MANIPULATION GEAR MESHING

21 INSTEAD OF CONCLUSION : COMPLIANCE ROBOT ARMS CONTROL - KEY TECHNOLOGY TOWARDS ENHANCED DEXTERITY AND FLEXIBILITY