Introduzione alla robotica collaborativa. ing. Paolo Bassetti Responsabile supporto tecnico Universal Robots Italia

Transcription

1 Introduzione alla robotica collaborativa ing. Paolo Bassetti Responsabile supporto tecnico Universal Robots Italia

2 Collaborative Robots

3 Application examples: - Cobot and humans working together in the same area - Cobot used for heavy or repetitive tasks

4 Application examples: - Compact size and safe - cobot as a new tool on the workbench

5 Application examples: - one operator can manage several robots and attend to several machines at once

6 Application examples: - No / reduced need for fences minimum footprint - Easy to replace cobot with a new one or with an operator

7 Application examples: - Operator can load a new piece without stopping the robot

8 Application examples: - Cobot used to access difficult positions while operators work on easy target

9 Application examples: - Cobot can be easily moved to different working areas

10 Application examples: - Mobile robotics on AGV

11 What does «collaborative» mean? Collaborative robot <=> Collaboritive Application

12 you must also consider: the tool used

13 you must also consider: the tool used

14 you must also consider: the tool used the features near the robot

15 you must also consider: the tool used the features near the robot

16 you must also consider: the tool used the features near the robot the object moved

17 you must also consider: the tool used the features near the robot the object moved

18 you must also consider: the tool used the features near the robot the object moved presence, role and training of humans

19 The cobot is collaborative, but you should also consider: the tool used the features near the robot the object moved presence, role and training of humans

20 Introduction Directives, Laws & Standards

21 Directives, Laws & Standards Directives, Laws and Standards in the EU EU Government: Writes EU Directives Initiate EU Standards (EN ) EU Official Journal links Directives to Standards EU treaties require national implementation of EU Directives into national laws Governments of the EU member states : Translate and adopt EU Directives as national laws (Same contents) Write National Standards (DIN/BS/DS/UNE ) National Standards are linked to national laws

22 Machinery Directive 2006/42/EC Directives, Laws & Standards

23 Machinery Directive 2006/42/EC - ANNEX I Essential health and safety requirements Directives, Laws & Standards MANDATORY Integrator must perform risk assessment NOT MANDATORY Compliance with standards It is recommended to comply with the standards! In case of failure: System compliant» burden of proof lies with the prosecutor System Not compliant» burden of proof lies with the integrator

24 Directives, Laws & Standards ISO :2008 Standard describes General principles for design Safety related parts of control systems (SRP/CS) Purpose Is intended to give guidance on the design and assessment of control systems related to safety Contains Definition of Performance Levels (PL) UR safety functions classify as Performance Level D (PLd) PLd is the second highest reliability level, meaning that the safety function is extremely reliable

25 Directives, Laws & Standards ISO :2008 Diagrammatic presentation of a typical safety function with SRP/CS I: Input L: Logic O: Output 1: Initiation event 2: Machine actuator

26 Directives, Laws & Standards ISO :2008 Architecture Category 2 vs. Category 3

27 Directives, Laws & Standards ISO :2008 Iterative process for design of a safety-related parts of a control system in six steps: For each safety function: 1. Define the requirements of the safety function 2. Determine the required Performance Level (PLr) 3. Design and implementation of the safety function 4. Evaluate the performance level - (category, MTTFd, DC, CCF) 5. Verification: PL PLr? 6. Validation: all requirements met?

28 Directives, Laws & Standards ISO :2008 Risk graph for determining required PLr for safety function

29 Normas de Seguridad ISO :2011 Standard describes Safety requirements for industrial robots Purpose Provide guidance of principles of design for the manufacturer of robot is designed for traditional industrial robots ISO Section 5.10 says: Robots designed for collaborative operation shall provide a visual indication when the robot is in collaborative operation and shall comply with one or more of the requirements in to Safety rated monitored stop Hand guiding Speed and Separation mode Power and force limiting by inherent design and control

30 Directives, Laws & Standards ISO :2011 Safety requirements for industrial robots Covers any kind of industrial robots (UR3, UR5, UR10, UR , same requirements) Not very specific on collaborative robots Defines requirements for: Emergency stop Safeguard stop Control modes Teach pendant Etc, etc, etc

31 ISO/TS Directives, Laws & Standards

32 ISO/TS Collaborative Robots

33 What is ISO/TS 15066? Technical Specification Who made ISO/TS 15066? ISO/TS is developed under the technical committee ISO/TC 299 (Former ISO/TC 184/SC 2) All the large industrial robot manufacturers are represented in this committee, including those who produce collaborative robots: Universal Robots (UR3, UR5 & UR10) ABB (YuMI) Rethink robotics (Baxter & Sawyer) KUKA (IIWA) Fanuc (CR-35iA) The ISO/TS is consensus guidelines agreed upon by all cobot manufacturers. All cobots listed above can be installed in compliance with ISO/TS 15066

34 Four different types of collaborative operation What is ISO/TS 15066? Technical Specification

35 Two different types of contacts What is ISO/TS 15066? Technical Specification

36 What is ISO/TS 15066? Technical Specification Quasi-static contacts Contact for extended periods of time More than 0.5s Unable to simply recoil Examples: Clamping Pinching

37 What is ISO/TS 15066? Technical Specification Transient contacts Contact for short periods of time Less than 0.5s. Not clamped Example: Free space collision

38 Annex A Presenting a research study on pain thresholds

39 What is ISO/TS 15066? Annex A Is compliance with limit values in Annex A required? No, it is an informative part of ISO/TS Informative means NOT required. If used, it is required to use in total.

40 What is ISO/TS 15066? Annex A Pain pressure values Research studies on threshold limits are presented The table is based on: Pressure Force Multipliers/factor Pressure depends on tool shape Pressure depends on workpiece shape

41 Pain pressure measurements What is ISO/TS 15066? Annex A

42 What is ISO/TS 15066? Annex A Force values Purely based on literature study Extremely conservative Remember: Quasi-static contact is after 0.5 sec. This is indirectly related to the UR force

43 What is ISO/TS 15066? Annex A Transient contacts Force and pressure is not the full truth Momentum is promising Body tissue and connective parts act like small springs

44 What is ISO/TS 15066? Annex A Transient contacts curves Calculated curves Contact area of 1cm2 Robot mass vs. human mass Pain only Feet are considered fixated

45 Relation to UR and Summary and what about the future?

46 What is ISO/TS 15066? Relation to UR and Summary Safety-related software features: Traditional robots: Safe axis limiting (OPTIONAL) Safe speed (OPTIONAL) UR Robots: Safe axis limiting (speed & position) Safe speed Safe force Safe momentum Safe mechanical power Safe tool orientation Safe boundaries Stop Time and distance Elbow speed and force Advanced collaborative safety features + Low weight minimizes impact forces

47 What is ISO/TS 15066? Relation to UR and Summary Examples of accepted clamping hazards Remember many places have acceptable clamping conditions. Even places our children go!

48 We trust what we know