Expert cooperative robots for highly skilled operations Expert cooperative robots for highly skilled operations for the factory of the future Presenter: Dr. Sotiris MAKRIS Laboratory for Manufacturing Systems & Automation (LMS) Dept. of Mechanical Engineering & Aeronautics University of Patras, Greece www.lms.mech.upatras.gr
1925 Mass Production = Fordism Flexible manufacturing 1945 JIT TPS 2000+ Mass Customisation
Framework for modeling Human Robot Cooperation
Generalized model of humans and robots as resources Modelling as unique resources
Model of the HR workload in the hybrid production cell
Decision making approach 1 Resources & Workload model 2 Suitability of Resources per task 3 Human & Robot Resources Human capabilities Sequence of tasks Robot capabilities Alternatives generation Root 1 Resources 6 Online re-planning Unexpected cases Human- Robot availability Task planning generation 5 4 Alternatives evaluation Multiple criteria Normalization & weighting
Collaborative workplace design and planning
Human-Robot task planning & tasks coordination The human participation has been reduced from 53% to 7%, while the dual arm robot participation has been increased from 47% to 93%.
Human Robot Interaction Mechanisms Gesture based interaction 1 2 Body gestures Hand gestures Augmented Reality & Smart watches 3 4 Resources Manual guidance device Integrated force sensors Voice commands Manual guidance Natural way of interaction Commands vocabulary
Interaction modalities 1 Gesture based interaction 2 Voice commands
Enhanced cooperation for assembly
Enhanced cooperation for assembly
Challenges in technology upscaling Technology perspective In this perspective, additional use cases will help to demonstrate the maturity of the technology to enable flexible production IoT, CPS technology to be further validated/demonstrated Education Teaching/Learning factory approach
LMS related references (1) Chryssolouris G. Manufacturing Systems: Theory and Practice. 2nd ed. New York: Springer-Verlag; 2006. P. Tsarouchi, S. Makris, G. Michalos, M. Stefos, K. Fourtakas, K. Kaltsoukalas, D. Kontrovrakis, and G. Chryssolouris, Robotized Assembly Process Using Dual Arm Robot, Procedia CIRP, vol. 23, pp. 47 52, 2014. Tsarouchi, Panagiota, Sotiris Makris, George Michalos, Alexandros-Stereos Matthaiakis, Xenofon Chatzigeorgiou, Athanasios Athanasatos, Michael Stefos, Panagiotis Aivaliotis, and George Chryssolouris. 2015. ROS Based Coordination of Human Robot Cooperative Assembly Tasks-An Industrial Case Study. Procedia CIRP 37: 254 59. doi:10.1016/j.procir.2015.08.045. Michalos, George, Sotiris Makris, Panagiota Tsarouchi, Toni Guasch, Dimitris Kontovrakis, and George Chryssolouris. 2015. Design Considerations for Safe Human-Robot Collaborative Workplaces. Procedia CIRP 37. Elsevier B.V.: 248 53. doi:10.1016/j.procir.2015.08.014. P. Tsarouchi, S.Makris, G. Chryssolouris, On a human and dual-arm robot task planning method, To be presented in 49th CIRP Conference on Manufacturing Systems (CIRP-CMS 2016).
LMS related references (2) S. Makris, P. Tsarouchi, D. Surdilovic, and J. Krüger, Intuitive dual arm robot programming for assembly operations, CIRP Ann. - Manuf. Technol., vol. 63, no. 1, pp. 13 16, 2014. K. Kaltsoukalas, S. Makris, and G. Chryssolouris, On generating the motion of industrial robot manipulators, Robot. Comput. Integr. Manuf., vol. 32, pp. 65 71, Apr. 2015. Papacharalampopoulos, S. Makris, A. Bitzios, and G. Chryssolouris, Prediction of cabling shape during robotic manipulation, Int. J. Adv. Manuf. Technol., vol. 32, pp. 1 8, Jun. 2015. Tsarouchi, Panagiota, Sotiris Makris, and George Chryssolouris. 2016. Human Robot Interaction Review and Challenges on Task Planning and Programming. International Journal of Computer Integrated Manufacturing, February, 1 16. doi:10.1080/0951192x.2015.1130251. George Michalos, Panagiotis Karagiannis, Sotiris Makris, Önder Tokçalar, George Chryssolouris, "Augmented Reality (AR) Applications for Supporting Human-Robot Interactive Cooperation", (CMS 2015) 48th CIRP Conference on Manufacturing Systems, 24-26 June, Ischia, Italy (2015)
LMS related references (3) Tsarouchi, Panagiota, Jason Spiliotopoulos, George Michalos, Spyros Koukas, Athanasios Athanasatos, Sotiris Makris, and George Chryssolouris. 2016. A Decision Making Framework for Human Robot Collaborative Workplace Generation. Procedia CIRP 44: 228 32. doi:10.1016/j.procir.2016.02.103. G. Michalos, S. Makris, J. Spiliotopoulos, I. Misios, P. Tsarouchi, G. Chryssolouris, "ROBO-PARTNER: Seamless Human-Robot Cooperation for Intelligent, Flexible and Safe Operations in the Assembly Factories of the Future", (CATS 2014) 5th CIPR Conference on Assembly Technologies and Systems, 13-14 November, Dresden, Germany, pp. 71-76 (2014) P.Tsarouchi, S.Matthaiakis, S. Makris and G. Chryssolouris, "On a Human Robot Collaboration in an assembly cell", International Journal of Computer Integrated Manufacturing (Under Publication), 2016. George Michalos, Niki Kousi, Sotiris Makris, George Chryssolouris, "Performance assessment of production systems with mobile robots", (CMS 2015) 48th CIRP Conference on Manufacturing Systems, 24-26 June, Ischia, Italy (2015) S. Makris, P. Karagiannis, S. Koukas, S. Matthaiakis, Augmented Reality system for operator support in human-robot collaborative assembly, CIRP Annals Manufacturing Technology, Vol. 66, Issue 1, (2016)..-, DOI 10.1016/j.cirp.2016.04.038
Acknowledgments www.xact-project.eu/ www.robo-partner.eu
Expert cooperative robots for highly skilled operations THANK YOU! Presenter: Dr. Sotiris MAKRIS makris@lms.mech.upatras.gr http://lms.mech.upatras.gr Laboratory for Manufacturing Systems & Automation (LMS)