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A Reconfigurable robot workCell for fast set-up of automated assembly processes in SMEs

Risultati finali

Workcell installation manual

Manual to support workcell installation at end-user sites.

Report on legal documents for partners, customers and developers

Legal 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 workcell

Description 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 simulation

A manual describing the use of ReconCell simulation system based on VEROSIM.

Manual for setting up software tools for business intelligence

This 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 reconfiguration

Report on simulation methods for workcell reconfiguration as demonstrated in D1.2.

Developer, Distribution & Manufacturing Network as well as new I4MS knowledge hubs establishments and operations

Documents 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 tasks

Manual describing robot programming in the ReconCell system (visual programming, programming of skills, and planning).

Technical report on the design of innovative workcell elements

Selection 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 user

Report on 3D workcell visualization, overall process control and interface to quickly introduce new elements into the system.

Manual for programming of visual processing

End 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 evaluation

Report 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 1

Report on business requirements synthesis and business model implementation.

Technical report on ReconCell model for business intelligence, part 2

Second part of the report on business requirements synthesis and business model implementation.

Movement and grasping evaluation and learning through simulation

Techniques 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

Demonstration of optimal workcell reconfiguration in real world

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 simulation

Automatic 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 skills

Visual programming for assembly tasks and its link to programming by demonstration and learning and adaptation of force-based assembly skills.

Intermediate demonstrations of use-cases

Initial 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.

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Pubblicazioni

Visual Inspection and Error Detection in a Reconfigurable Robot Workcell: An Automotive Light Assembly Example

Autori: Tatyana Ivanovska, Simon Reich, Robert Bevec, Ziga Gosar, Minija Tamousinaite, Ales Ude, Florentin Wörgötter
Pubblicato in: Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Issue yearly, 2018, Page(s) 607-615
DOI: 10.5220/0006666506070615

Interactive Calibration and Visual Programming of Reconfigurable Robotic Workcells

Autori: Marc Priggemeyer, Daniel Losch, Jorgen Robmann
Pubblicato in: 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018, Page(s) 1396-1401
DOI: 10.1109/aim.2018.8452707

Interactive Analysis and Visualization of Digital Twins in High-Dimensional State Spaces

Autori: Linus Atorf, Jurgen Rossmann
Pubblicato in: 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018, Page(s) 241-246
DOI: 10.1109/icarcv.2018.8581126

Simulation-based Control of Reconfigurable Robotic Workcells: Interactive Planning and Execution of Processes in Cyber-Physical Systems

Autori: M. Priggemeyer, J. Rossmann
Pubblicato in: Proceedings of the 50th International Symposium on Robotics ISR 2018, Issue 50, 2018, Page(s) 400-407

Reconfigurable fixture evaluation for use in automotive light assembly

Autori: Martin Bem, Miha Denisa, Timotej Gaspar, Jaka Jereb, Robert Bevec, Igor Kovac, Ales Ude
Pubblicato in: 2017 18th International Conference on Advanced Robotics (ICAR), 2017, Page(s) 61-67
DOI: 10.1109/icar.2017.8023497

Enhancing the performance of adaptive iterative learning control with reinforcement learning

Autori: Bojan Nemec, Mihael Simonic, Nejc Likar, Ales Ude
Pubblicato in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 2192-2199
DOI: 10.1109/iros.2017.8206038

On orientation control of functional redundant robots

Autori: Leon Zlajpah
Pubblicato in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 2475-2482
DOI: 10.1109/icra.2017.7989288

Rapid hardware and software reconfiguration in a robotic workcell

Autori: Timotej Gaspar, Barry Ridge, Robert Bevec, Martin Bem, Igor Kovac, Ales Ude, Ziga Gosar
Pubblicato in: 2017 18th International Conference on Advanced Robotics (ICAR), 2017, Page(s) 229-236
DOI: 10.1109/icar.2017.8023523

Rotational Subgroup Voting and Pose Clustering for Robust 3D Object Recognition

Autori: Anders Glent Buch, Lilita Kiforenko, Dirk Kraft
Pubblicato in: 2017 IEEE International Conference on Computer Vision (ICCV), 2017, Page(s) 4137-4145
DOI: 10.1109/iccv.2017.443

Simulation-based Optimization of Camera Placement in the Context of Industrial Pose Estimation

Autori: Troels B. Jørgensen, Thorbjørn M. Iversen, Anders P. Lindvig, Christian Schlette, Dirk Kraft, Thiusius R. Savarimuthu, Jürgen Rossmann, Norbert Krüger
Pubblicato in: Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2018, Page(s) 524-533
DOI: 10.5220/0006553005240533

Rapid state machine assembly for modular robot control using meta-scripting, templating and code generation

Autori: Barry Ridge, Timotej Gaspar, Ales Ude
Pubblicato in: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Page(s) 661-668
DOI: 10.1109/humanoids.2017.8246943

Generalization of orientational motion in unit quaternion space

Autori: Aljaz Kramberger, Andrej Gams, Bojan Nemec, Ales Ude
Pubblicato in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 808-813
DOI: 10.1109/humanoids.2016.7803366

3D simulation-based user interfaces for a highly-reconfigurable industrial assembly cell

Autori: Christian Schlette, Eric Guiffo Kaigom, Daniel Losch, Georgij Grinshpun, Markus Emde, Ralf Waspe, Nils Wantia, Jurgen Robmann
Pubblicato in: 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), 2016, Page(s) 1-6
DOI: 10.1109/etfa.2016.7733703

Bimanual human robot cooperation with adaptive stiffness control

Autori: Bojan Nemec, Nejc Likar, Andrej Gams, Ales Ude
Pubblicato in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 607-613
DOI: 10.1109/humanoids.2016.7803337

Transfer of contact skills to new environmental conditions

Autori: Aljaz Kramberger, Andrej Gams, Bojan Nemec, Casper Schou, Dimitrios Chrysostomou, Ole Madsen, Ales Ude
Pubblicato in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 668-675
DOI: 10.1109/humanoids.2016.7803346

Learning by Demonstration and Adaptation of Finishing Operations Using Virtual Mechanism Approach

Autori: Bojan Nemec, Kenichi Yasuda, Nathanael Mullennix, Nejc Likar, Ales Ude
Pubblicato in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 7219-7225
DOI: 10.1109/icra.2018.8460603

Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments

Autori: Aljaz Kramberger, Erfan Shahriari, Andrej Gams, Bojan Nemec, Ales Ude, Sami Haddadin
Pubblicato in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6023-6028
DOI: 10.1109/iros.2018.8593647

Optimizing grippers for compensating pose uncertainties by dynamic simulation

Autori: 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
Pubblicato in: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016, Page(s) 177-184
DOI: 10.1109/simpar.2016.7862393

Bayesian Optimization of 3D Feature Parameters for 6D Pose Estimation

Autori: Frederik Hagelskjær, Norbert Krüger, Anders Buch
Pubblicato in: Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2019, Page(s) 135-142
DOI: 10.5220/0007568801350142

Experimentable Digital Twins—Streamlining Simulation-Based Systems Engineering for Industry 4.0

Autori: Michael Schluse, Marc Priggemeyer, Linus Atorf, Juergen Rossmann
Pubblicato in: IEEE Transactions on Industrial Informatics, Issue 14/4, 2018, Page(s) 1722-1731, ISSN 1551-3203
DOI: 10.1109/tii.2018.2804917

Skill learning and action recognition by arc-length dynamic movement primitives

Autori: Timotej Gašpar, Bojan Nemec, Jun Morimoto, Aleš Ude
Pubblicato in: Robotics and Autonomous Systems, Issue 100, 2018, Page(s) 225-235, ISSN 0921-8890
DOI: 10.1016/j.robot.2017.11.012

Learning of assembly constraints by demonstration and active exploration

Autori: Aljaž Kramberger, Rok Piltaver, Bojan Nemec, Matjaž Gams, Aleš Ude
Pubblicato in: Industrial Robot: An International Journal, Issue 43/5, 2016, Page(s) 524-534, ISSN 0143-991X
DOI: 10.1108/ir-02-2016-0058

Generalization of orientation trajectories and force-torque profiles for robotic assembly

Autori: Aljaž Kramberger, Andrej Gams, Bojan Nemec, Dimitrios Chrysostomou, Ole Madsen, Aleš Ude
Pubblicato in: Robotics and Autonomous Systems, Issue 98, 2017, Page(s) 333-346, ISSN 0921-8890
DOI: 10.1016/j.robot.2017.09.019

Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts

Autori: 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
Pubblicato in: Acta Mechanica et Automatica, Issue 12/1, 2018, Page(s) 78-83, ISSN 2300-5319
DOI: 10.2478/ama-2018-0013

Teaching a Robot the Semantics of Assembly Tasks

Autori: 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
Pubblicato in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017, Page(s) 1-23, ISSN 2168-2216
DOI: 10.1109/TSMC.2016.2635479

Base Frame Calibration of a Reconfigurable Multi-robot System with Kinesthetic Guidance

Autori: Timotej Gašpar, Robert Bevec, Barry Ridge, Aleš Ude
Pubblicato in: Advances in Service and Industrial Robotics - Proceedings of the 27th International Conference on Robotics in Alpe-Adria Danube Region (RAAD 2018), Issue 67, 2019, Page(s) 651-659
DOI: 10.1007/978-3-030-00232-9_68