A methodology to develop collaborative robotic cyber physical systems for production environments

Abstract

The paper identifies the need for human robot collaboration for conventional light weight and heavy payload robots in future manufacturing environment. An overview of state of the art for these types of robots shows that there exists no solution for human robot collaboration. Here, we consider cyber physical systems, which are based on human worker participation as an integrated role in addition to its basic components. First, the paper identifies the collaborative schemes and a formal grading system is formulated based on four performance indicators. A detailed sensor catalog is established for one of the collaboration schemes, and performance indices are computed with various sensors. This study reveals an assessment of best and worst possible ranges of performance indices that are useful in the categorization of collaboration levels. To illustrate a possible solution, a hypothetical industrial scenario is discussed in a production environment. Generalizing this approach, a design methodology is developed for such human robot collaborative environments for various industrial scenarios to enable solution implementation. Keywords Cyber physical system Á Human robot collaboration Á Collaborative robotics This article is part of a focus collection on ''Dynamics in Logistics: Digital Technologies and Related Management Methods''.

Security framework for industrial collaborative robotic cyber-physical systems

“…As the basic aim for the development of CRCPS is to maintain worker safety while HRC is in operation, we assume a safe HRC system is in place. Detailed safe HRC system requirements, CPS structure, safety classifications, industrial scenarios and development methodology are studied for CRCPS in [10,25]. Here, we focus on security aspects of CRCPS and the protection measures needed for implementation.…”

“…The communication midst the three entities is subjected to the advent of the enabling adaptor technologies in CPS. To define a CRCPS, the basic modules of HC, PC, and CC interact through adaptors while the system possesses all the inherent characteristics of CPS like integrity, sociability, locality, irreversibility, adaptability, autonomous and highly automated [10,28]. For CRCPS, the PC must be a robot.…”

“…which is mainly controlled by the CC. The increased connectivity to external networks is a threat to the security of CPS [10]. If attackers develop means to enter the control systems and modify the system behavior, this 2 may cause irreversible damage to the PC.…”

Agarre bimanual de objetos asistido por visión

“…No obstante, el diseño y materiales de construcción limitan la aplicabilidad cuando el objeto no es ligero o de pequeñas dimensiones. En estos casos, hay soluciones más industriales como el robot YUMI-IRB 14000 de ABB (hasta 500gr) o el robot LBR-iiwa de KUKA (hasta 14kg en el modelo R820) como es discutido en [6].…”

“…No obstante, el diseño y materiales de construcción limitan la aplicabilidad cuando el objeto no es ligero o de pequeñas dimensiones. En estos casos, hay soluciones más industriales como el robot YUMI-IRB 14000 de ABB (hasta 500gr) o el robot LBR-iiwa de KUKA (hasta 14kg en el modelo R820) como es discutido en [6].La manipulación bimanual es una tarea que abarca diferentes etapas, como son la planificación del agarre, el control del robot y la percepción del agarre, entre otros. El trabajo aquí presentado se centra principalmente en la primera etapa, y más concretamente en estimar puntos de contacto para garantizar un agarre inicial bimanual estable [7], que permita levantar un objeto sin llevar a cabo una adaptación del agarre durante la manipulación dextrogira de un objeto.En la industria 4.0, los robots aún se enfrentan Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de Septiembre de 2018…”