Livrables
Manual to support workcell installation at end-user sites.
Report on legal documents for partners, customers and developersLegal documents for partners, customers and developers must be established to get the ReconCell system to market.
Technical report on software and hardware components in the workcellDescription of the hardware and software components components in the workcell. The hardware components will include two UR-10 robots, application-specific grippers, gripper exchange system, cameras, profiles to build the workcell frame, and the application-specific reconfigurable robot periphery. The software for robot programming by demonstration, force-based control and adaptation, 3D vision, robot simulation, CAD models, and business intelligence will also be described.
Manual for workcell simulationA manual describing the use of ReconCell simulation system based on VEROSIM.
Manual for setting up software tools for business intelligenceThis deliverable deals with setting up of software tools for business intelligence, including the setting up of various parameters describing the business model.
Workcell simulation for reconfigurationReport on simulation methods for workcell reconfiguration as demonstrated in D1.2.
Developer, Distribution & Manufacturing Network as well as new I4MS knowledge hubs establishments and operationsDocuments on developer, distribution & manufacturing networks which will contribute to bring the ReconCell system to market. This deliverable will also include a report on the mentoring and coaching activities at the new I4MS knowledge hubs.
Manual for programming of assembly skills and tasksManual describing robot programming in the ReconCell system (visual programming, programming of skills, and planning).
Technical report on the design of innovative workcell elementsSelection and arrangement of robot arms, grippers, and sensors Design of robot-suitable and task-specific reconfigurable fixtures, jigs, grippers including pick-ups, and interfaces Robot periphery
Sub-system for 3D simulation, visualization and interfacing with the userReport on 3D workcell visualization, overall process control and interface to quickly introduce new elements into the system.
Manual for programming of visual processingEnd users of automation technology are often non-experts when it comes to computer vision technologies. In this deliverable we will describe how to use an interface to the ReconCell computer vision system, which is transparent and therefore easily understandable by non-expert users.
Workcell monitoring: methods and evaluationReport on the integration of methods for 3-D part recognition, pose localization, and tracking to realize intelligent workcell monitoring.
Technical report on ReconCell model for business intelligence, part 1Report on business requirements synthesis and business model implementation.
Technical report on ReconCell model for business intelligence, part 2Second part of the report on business requirements synthesis and business model implementation.
Movement and grasping evaluation and learning through simulationTechniques that enable learning in simulation taking into account uncertainties will be described. The aim is to compute position and force control specifications which afterwards only require a relative simple adjustment on the real platform
Similar to D1.2, where the workcell reconfiguration is demonstrated in simulation, here reconfiguration in real-world will be demonstrated taking into account factors such as material properties, part tolerances, available assembly skills and sequences, and part and product design.
Demonstration of optimal workcell reconfiguration in simulationAutomatic workcell reconfiguration in simulation will be demonstrated,taking into account factors such as material properties, part tolerances, available assembly skills and sequences, and part and product design.
Software environment for visual programming of assembly skillsVisual programming for assembly tasks and its link to programming by demonstration and learning and adaptation of force-based assembly skills.
Intermediate demonstrations of use-casesInitial demonstration of use cases. While JSI is the overall coordinator of this deliverable, the partners ELVEZ, PRZM, and LDT will contribute to the implementation of their use cases.
A project web site will be set up.
Publications
Auteurs:
Tatyana Ivanovska, Simon Reich, Robert Bevec, Ziga Gosar, Minija Tamousinaite, Ales Ude, Florentin Wörgötter
Publié dans:
Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Numéro yearly, 2018, Page(s) 607-615, ISBN 978-989-758-290-5
Éditeur:
SCITEPRESS - Science and Technology Publications
DOI:
10.5220/0006666506070615
Auteurs:
Marc Priggemeyer, Daniel Losch, Jorgen Robmann
Publié dans:
2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018, Page(s) 1396-1401, ISBN 978-1-5386-1854-7
Éditeur:
IEEE
DOI:
10.1109/aim.2018.8452707
Auteurs:
Linus Atorf, Jurgen Rossmann
Publié dans:
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018, Page(s) 241-246, ISBN 978-1-5386-9582-1
Éditeur:
IEEE
DOI:
10.1109/icarcv.2018.8581126
Auteurs:
M. Priggemeyer, J. Rossmann
Publié dans:
Proceedings of the 50th International Symposium on Robotics ISR 2018, Numéro 50, 2018, Page(s) 400-407, ISBN 978-3-8007-4699-6
Éditeur:
VDE VERLAG GMBH, Berlin, Offenbach
Auteurs:
Martin Bem, Miha Denisa, Timotej Gaspar, Jaka Jereb, Robert Bevec, Igor Kovac, Ales Ude
Publié dans:
2017 18th International Conference on Advanced Robotics (ICAR), 2017, Page(s) 61-67, ISBN 978-1-5386-3157-7
Éditeur:
IEEE
DOI:
10.1109/icar.2017.8023497
Auteurs:
Bojan Nemec, Mihael Simonic, Nejc Likar, Ales Ude
Publié dans:
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 2192-2199, ISBN 978-1-5386-2682-5
Éditeur:
IEEE
DOI:
10.1109/iros.2017.8206038
Auteurs:
Leon Zlajpah
Publié dans:
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 2475-2482, ISBN 978-1-5090-4633-1
Éditeur:
IEEE
DOI:
10.1109/icra.2017.7989288
Auteurs:
Timotej Gaspar, Barry Ridge, Robert Bevec, Martin Bem, Igor Kovac, Ales Ude, Ziga Gosar
Publié dans:
2017 18th International Conference on Advanced Robotics (ICAR), 2017, Page(s) 229-236, ISBN 978-1-5386-3157-7
Éditeur:
IEEE
DOI:
10.1109/icar.2017.8023523
Auteurs:
Anders Glent Buch, Lilita Kiforenko, Dirk Kraft
Publié dans:
2017 IEEE International Conference on Computer Vision (ICCV), 2017, Page(s) 4137-4145, ISBN 978-1-5386-1032-9
Éditeur:
IEEE
DOI:
10.1109/iccv.2017.443
Auteurs:
Troels B. Jørgensen, Thorbjørn M. Iversen, Anders P. Lindvig, Christian Schlette, Dirk Kraft, Thiusius R. Savarimuthu, Jürgen Rossmann, Norbert Krüger
Publié dans:
Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2018, Page(s) 524-533, ISBN 978-989-758-290-5
Éditeur:
SCITEPRESS - Science and Technology Publications
DOI:
10.5220/0006553005240533
Auteurs:
Barry Ridge, Timotej Gaspar, Ales Ude
Publié dans:
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Page(s) 661-668, ISBN 978-1-5386-4678-6
Éditeur:
IEEE
DOI:
10.1109/humanoids.2017.8246943
Auteurs:
Aljaz Kramberger, Andrej Gams, Bojan Nemec, Ales Ude
Publié dans:
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 808-813, ISBN 978-1-5090-4718-5
Éditeur:
IEEE
DOI:
10.1109/humanoids.2016.7803366
Auteurs:
Christian Schlette, Eric Guiffo Kaigom, Daniel Losch, Georgij Grinshpun, Markus Emde, Ralf Waspe, Nils Wantia, Jurgen Robmann
Publié dans:
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 2016, Page(s) 1-6, ISBN 978-1-5090-1314-2
Éditeur:
IEEE
DOI:
10.1109/etfa.2016.7733703
Auteurs:
Bojan Nemec, Nejc Likar, Andrej Gams, Ales Ude
Publié dans:
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 607-613, ISBN 978-1-5090-4718-5
Éditeur:
IEEE
DOI:
10.1109/humanoids.2016.7803337
Auteurs:
Aljaz Kramberger, Andrej Gams, Bojan Nemec, Casper Schou, Dimitrios Chrysostomou, Ole Madsen, Ales Ude
Publié dans:
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 668-675, ISBN 978-1-5090-4718-5
Éditeur:
IEEE
DOI:
10.1109/humanoids.2016.7803346
Auteurs:
Bojan Nemec, Kenichi Yasuda, Nathanael Mullennix, Nejc Likar, Ales Ude
Publié dans:
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 7219-7225, ISBN 978-1-5386-3081-5
Éditeur:
IEEE
DOI:
10.1109/icra.2018.8460603
Auteurs:
Aljaz Kramberger, Erfan Shahriari, Andrej Gams, Bojan Nemec, Ales Ude, Sami Haddadin
Publié dans:
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6023-6028, ISBN 978-1-5386-8094-0
Éditeur:
IEEE
DOI:
10.1109/iros.2018.8593647
Auteurs:
Adam Wolniakowski, Aljaz Kramberger, Andrej Gams, Dimitrios Chrysostomou, Frederik Hagelskjar, Thomas Nicky Thulesen, Lilita Kiforenko, Anders Glent Buch, Leon Bodenhagen, Henrik Gordon Petersen, Ole Madsen, Ales Ude, Norbert Kruger
Publié dans:
2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016, Page(s) 177-184, ISBN 978-1-5090-4616-4
Éditeur:
IEEE
DOI:
10.1109/simpar.2016.7862393
Auteurs:
Frederik Hagelskjær, Norbert Krüger, Anders Buch
Publié dans:
Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2019, Page(s) 135-142, ISBN 978-989-758-354-4
Éditeur:
SCITEPRESS - Science and Technology Publications
DOI:
10.5220/0007568801350142
Auteurs:
Michael Schluse, Marc Priggemeyer, Linus Atorf, Juergen Rossmann
Publié dans:
IEEE Transactions on Industrial Informatics, Numéro 14/4, 2018, Page(s) 1722-1731, ISSN 1551-3203
Éditeur:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tii.2018.2804917
Auteurs:
Timotej Gašpar, Bojan Nemec, Jun Morimoto, Aleš Ude
Publié dans:
Robotics and Autonomous Systems, Numéro 100, 2018, Page(s) 225-235, ISSN 0921-8890
Éditeur:
Elsevier BV
DOI:
10.1016/j.robot.2017.11.012
Auteurs:
Aljaž Kramberger, Rok Piltaver, Bojan Nemec, Matjaž Gams, Aleš Ude
Publié dans:
Industrial Robot: An International Journal, Numéro 43/5, 2016, Page(s) 524-534, ISSN 0143-991X
Éditeur:
Emerald Group Publishing Ltd.
DOI:
10.1108/ir-02-2016-0058
Auteurs:
Aljaž Kramberger, Andrej Gams, Bojan Nemec, Dimitrios Chrysostomou, Ole Madsen, Aleš Ude
Publié dans:
Robotics and Autonomous Systems, Numéro 98, 2017, Page(s) 333-346, ISSN 0921-8890
Éditeur:
Elsevier BV
DOI:
10.1016/j.robot.2017.09.019
Auteurs:
Adam Wolniakowski, Andrej Gams, Lilita Kiforenko, Aljaž Kramberger, Dimitrios Chrysostomou, Ole Madsen, Konstantsin Miatliuk, Henrik Gordon Petersen, Frederik Hagelskjær, Anders Glent Buch, Aleš Ude, Norbert Krüger
Publié dans:
Acta Mechanica et Automatica, Numéro 12/1, 2018, Page(s) 78-83, ISSN 2300-5319
Éditeur:
De Gruyter
DOI:
10.2478/ama-2018-0013
Auteurs:
Thiusius Rajeeth Savarimuthu, Anders Glent Buch, Christian Schlette, Nils Wantia, Jurgen Rossmann, David Martinez, Guillem Alenya, Carme Torras, Ales Ude, Bojan Nemec, Aljaz Kramberger, Florentin Worgotter, Eren Erdal Aksoy, Jeremie Papon, Simon Haller, Justus Piater, Norbert Kruger
Publié dans:
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017, Page(s) 1-23, ISSN 2168-2216
Éditeur:
IEEE Advancing Technology for Humanity
DOI:
10.1109/TSMC.2016.2635479
Auteurs:
Timotej Gašpar, Robert Bevec, Barry Ridge, Aleš Ude
Publié dans:
Advances in Service and Industrial Robotics - Proceedings of the 27th International Conference on Robotics in Alpe-Adria Danube Region (RAAD 2018), Numéro 67, 2019, Page(s) 651-659, ISBN 978-3-030-00231-2
Éditeur:
Springer International Publishing
DOI:
10.1007/978-3-030-00232-9_68
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