Collaborative Robots provide many possibilities, when it comes to Human-Robot Collaboration. Until now, these approaches are usually custom made, sensor-integrated solutions, where the robot's safety controller ensures the safety of the human worker. These solutions are according to today's rules and standards. We propose to extend these solutions with including Virtual Realty as a sensor and to provide comfort features to the operator. In order to create cooperation between human and industrial robot in our experiments, we propose to have a simple nut screwing operation as an example, where the industrial robot does the hard part. With sharing the task in such manner, we will ensure that the robot is doing the hard and monotonous work, while the worker benefits from the task sharing. Results are demonstrated through simulation and in reality also.

Task-sharing and Human-Robot Collaboration has gained increased attention with the widespread commissioning and usage of collaborative robots. However, recent studies show that the fenceless collaborative robots are not as harmless as they look like. In order to study Human-Robot Interaction scenarios, in a safe manner, we propose to execute the scenario in Virtual Reality simulation and afterwards implement it in real robotic applications (supervised from VR). In addition, this simulated world allows ad-hoc modifications and easy prototyping of different multi-modal communication forms. In this paper we propose an architecture for safe human-robot collaboration and describe a use-case: task of nut screwing, which is executed by the human and the robot together. The nut is hold by the human and the screw is screwed into the nut by the robot (as this part is the repetitive part of the task). The task can be executed in the VR simulation with different input and feedback channels (multi-modal) in order to identify the most efficient communication way between the human and the robot. The different input and output channels are presented in detail.

When operators and industrial robots are sharing the same task, there are multiple factors, which effect if a system is safe for the human operator or not. In general this is solved by introducing Collaborative Robot for cooperation, but what happens when we would extend our already existing production facilities with newer comfort features? In this paper we propose to include industrial robots and humans executing the same task, while their safety is supervised by a simulation environment, where all necessary precautions are taken. The task is a simple nut-screw operation, where the industrial robot is executing the hard lifting part for the screw and the human holds the nut to be screwed on the screw. Results are demonstrated through simulation and in reality also.

It is inevitable that technological improvements have affected human's life in any aspect to a large extent. Automation, artificial intelligence, robotics, etc., are some advances contributed to the fourth industrial revolution: Industry 4.0. Despite there are still many arguments, Internet of Things (IoT) and Cyber Physical Systems (CPS) have been widely acknowledged as the main fundaments of Industry 4.0. This paper introduces the concept of CPS by providing an explicit framework that unifies the existing theories in this regard. Nine exquisite technologies attributed to Industry 4.0 are investigated, among which virtual technology (VT) and digital twin (DT) are considered as two of the core criteria and are thus focused on in this paper. However, for providing an acceptable level of integration and intelligence, noticeable gap between the virtual world and the real factory is still a significant challenge. Holistic approaches addressing this issue suggest VTs and DT have the potential to form the fundaments for more improvements in terms of both interoperability and consciousness. Furthermore, they may pave the way for achieving the highest level of CPS and Industry 4.0.

No abstract

No abstract

Programming of industrial robots and manufacturing equipment in general requires product specific expertise towards all members in a manufacturing cell. Typically, old and new equipment is present in the same setup and several experts are often involved in the operation of these systems. In order to decrease the level of complexity in programming of manufacturing equipment this paper investigates the use of virtual reality (VR), to create a common programming platform for typical members in a manufacturing setup. A two-way digital twin is created where all robots can be programmed through the same human-machine-interface (HMI). This cyber-physical system (CPS) allows for simulations, testing and safety checks before all programs are converted and downloaded to the respective units.

Bin picking is a typical work, which is easy to automate up to a given complexity of the work-piece dimensions. In case of casted work-pieces, the dimensions are most of the time not accurate enough for an industrial robot to be able to pick it up without additional sensors/intelligence. In this paper we introduce a cyber-physical system, where all sensors, actuators, machines and industrial robot is connected to a local network, where they share information easily with each other. The novelty of the system that the proposed solution is achieved on the software side, with minimum hardware reconfiguration need. We keep the flexibility of the industrial robot, but extend its' understanding with sensor fusion on a higher decision level, rather than on low robot programming level. The system also allows remote monitoring and supervision of the production plant.