Industrial Robot Programming Methods: A Scoping Review

Heimann, Oliver; Guhl, Jan

doi:10.1109/etfa46521.2020.9211997

Cited by 29 publications

(14 citation statements)

References 39 publications

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“…The benefits of assigning cobots to small-batch agile production [81] can be eroded by the requirement for more frequent reprogramming [7], especially if there is a need to continuously hire skilled programmers [12]. However, by simplifying programming and control methods sufficiently, workplace operators, rather than dedicated programmers, could intuitively program the cobots [82]. In this case, there would be greater potential for increased cobot utilisation since the programming role would be open to a broader range of workers.…”

Section: Proposed Cobot Control Methods In Recent Literaturementioning

confidence: 99%

Task Complexity and the Skills Dilemma in the Programming and Control of Collaborative Robots for Manufacturing

et al. 2023

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While traditional industrial robots participate in repetitive manufacturing processes from behind caged safety enclosures, collaborative robots (cobots) offer a highly flexible and human-interactive solution to manufacturing automation. Rather than operating from within cages, safety features such as force and proximity sensors and programmed protection zones allow cobots to work safely, close to human workers. Cobots can be configured to either stop or slow their motion if they come in contact with a human or obstacle or enter a protection zone, which may be a high pedestrian traffic area. In this way, a task can be divided into sub-processes allocated to the cobot or the human based on suitability, capability or human preference. The flexible nature of the cobot makes it ideal for low-volume, ‘just-in-time’ manufacturing; however, this requires frequent reprogramming of the cobot to adapt to the dynamic processes. This paper reviews relevant cobot programming and control methods currently used in the manufacturing industry and alternative solutions proposed in the literature published from 2018 to 2023. The paper aims to (1) study the features and characteristics of existing cobot programming and control methods and those proposed in the literature, (2) compare the complexity of the task that the cobot is to perform with the skills needed to program it, (3) determine who is the ideal person to perform the programming role, and (4) assess whether the cobot programming and control methods are suited to that person’s skillset or if another solution is needed. The study is presented as a guide for potential adopters of cobots for manufacturing and a reference for further research.

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Section: Proposed Cobot Control Methods In Recent Literaturementioning

confidence: 99%

Task Complexity and the Skills Dilemma in the Programming and Control of Collaborative Robots for Manufacturing

et al. 2023

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“…To program collaborative robots (robots that are intended for direct human-robot interactions within a shared space) for the previously mentioned types of interaction, different programming approaches exist. We can mainly organize them into two categories: online and offline programming [20]. Online programming is further categorized into two types: teach pendant and lead-through programming [4].…”

Section: Human-robot Interactions For Robot Programmingmentioning

confidence: 99%

Digital Twin for Human–Robot Interactions by Means of Industry 4.0 Enabling Technologies

Gallala

Kumar

Hichri

et al. 2022

Sensors

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There has been a rapid increase in the use of collaborative robots in manufacturing industries within the context of Industry 4.0 and smart factories. The existing human–robot interactions, simulations, and robot programming methods do not fit into these fast-paced technological advances as they are time-consuming, require engineering expertise, waste a lot of time in programming and the interaction is not trivial for non-expert operators. To tackle these challenges, we propose a digital twin (DT) approach for human–robot interactions (HRIs) in hybrid teams in this paper. We achieved this using Industry 4.0 enabling technologies, such as mixed reality, the Internet of Things, collaborative robots, and artificial intelligence. We present a use case scenario of the proposed method using Microsoft Hololens 2 and KUKA IIWA collaborative robot. The obtained results indicated that it is possible to achieve efficient human–robot interactions using these advanced technologies, even with operators who have not been trained in programming. The proposed method has further benefits, such as real-time simulation in natural environments and flexible system integration to incorporate new devices (e.g., robots or software capabilities).

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“…As robotic path teaching is a vital task for all robotic applications, the efficiency of the programming method directly affects the production cycle. Online programming (OP) is predominantly used to manually teach, where the input of a trained operator is required to teach the path points in space through a teach pendant [ 2 , 3 ]. This lead-through method requires robotics knowledge to generate kinematics and awareness of possible collision singularities during trajectory planning.…”

Section: Introductionmentioning

confidence: 99%

“…This lead-through method requires robotics knowledge to generate kinematics and awareness of possible collision singularities during trajectory planning. Although OP is characterized as a time-consuming method with an unfavorable ratio between programming and production time, it is still used predominantly by Small-to-Medium Enterprises (SMEs) [ 2 , 3 ]. This prevalent method has drawbacks, such as mandatory downtime, as the robot cannot be utilized during programming, and the generated program lacks flexibility, requiring re-programming to accommodate for even slight changes in the same workpiece.…”

Section: Introductionmentioning

confidence: 99%

Transforming Industrial Manipulators via Kinesthetic Guidance for Automated Inspection of Complex Geometries

Loukas

Vasilev

Zimmerman

et al. 2023

Sensors

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The increased demand for cost-efficient manufacturing and metrology inspection solutions for complex-shaped components in High-Value Manufacturing (HVM) sectors requires increased production throughput and precision. This drives the integration of automated robotic solutions. However, the current manipulators utilizing traditional programming approaches demand specialized robotic programming knowledge and make it challenging to generate complex paths and adapt easily to unique specifications per component, resulting in an inflexible and cumbersome teaching process. Therefore, this body of work proposes a novel software system to realize kinesthetic guidance for path planning in real-time intervals at 250 Hz, utilizing an external off-the-shelf force–torque (FT) sensor. The proposed work is demonstrated on a 500 mm2 near-net-shaped Wire–Arc Additive Manufacturing (WAAM) complex component with embedded defects by teaching the inspection path for defect detection with a standard industrial robotic manipulator in a collaborative fashion and adaptively generating the kinematics resulting in the uniform coupling of ultrasound inspection. The utilized method proves superior in performance and speed, accelerating the programming time using online and offline approaches by an estimate of 88% to 98%. The proposed work is a unique development, retrofitting current industrial manipulators into collaborative entities, securing human job resources, and achieving flexible production.

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Industrial Robot Programming Methods: A Scoping Review

Cited by 29 publications

References 39 publications

Task Complexity and the Skills Dilemma in the Programming and Control of Collaborative Robots for Manufacturing

Task Complexity and the Skills Dilemma in the Programming and Control of Collaborative Robots for Manufacturing

Digital Twin for Human–Robot Interactions by Means of Industry 4.0 Enabling Technologies

Transforming Industrial Manipulators via Kinesthetic Guidance for Automated Inspection of Complex Geometries

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