Intuitive instruction of industrial robots: Semantic process descriptions for small lot production

Perzylo, Alexander; Somani, Nikhil; Profanter, Stefan; Kessler, Ingmar; Rickert, Markus; Knoll, Alois

doi:10.1109/iros.2016.7759358

Cited by 55 publications

(45 citation statements)

References 19 publications

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“…One of the core applications of our semantic digital twins, is the automatic identification of suitable resources for a given semantic model of an industrial manufacturing process. The structure of our semantic process models and an intuitive way of teaching them to a robot system is introduced in [4]. The automatic mapping of a specific 4 https://github.com/OntoBREP manufacturing task to a compatible resource is achieved by combining device descriptions with a semantic description of their provided functionalities.…”

Section: Related Workmentioning

confidence: 99%

“…We further show how the semantic NodeSet descriptions can be extended to contain knowledge on the available executable skills of a manufacturing resource and their metalevel capability descriptions. Moreover, we combine the semantic UA NodeSet models with a description of the corresponding device's geometry based on our previously published OntoBREP CAD ontology 4 . By combining the OntoBREP geometry models with an optional OWL-encoded kinematic model, a full-fledged formal representation of hardware and software properties -a semantic digital twin -of a manufacturing resource can be created.…”

Section: Introductionmentioning

confidence: 99%

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OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources

Perzylo

Profanter

Rickert

et al. 2019

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

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The effectiveness of cognitive manufacturing systems in agile production environments heavily depends on the automatic assessment of various levels of interoperability between manufacturing resources. For taking informed decisions, a semantically rich representation of all resources in a workcell or production line is required. OPC UA provides means for communication and information exchange in such distributed settings. This paper proposes a semantic representation of a resource's properties, in which we use OWL ontologies to encode the information models that can be found in OPC UA NodeSet specifications. We further combine these models with an OWLbased description of the resource's geometry and-if applicable-its kinematic model. This leads to a comprehensive semantic representation of hardware and software features of a manufacturing resource, which we call semantic digital twin. Among other things, it reduces costs through virtual prototyping and enables the automatic deployment of manufacturing tasks in production lines. As a result, small-batch assemblies become financially viable. In order to minimize the effort of creating OWL-based UA NodeSet descriptions, we provide a software tool for the automatic transformation of XML-based NodeSet specifications that adhere to the OPC Foundation's NodeSet2 XML schema.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources

Perzylo

Profanter

Rickert

et al. 2019

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

Self Cite

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“…In terms of performance, the new approach works significantly better in user-crucial areas like input speed and offers an overall better programming paradigm. In a direct task comparison between a teach pendant-like device and the new GUIbased approach, the time needed by a domain professional to enter all necessary task-related inputs was reduced from 48 to 13 minutes [8]. So, while providing a step forward in the technical foundation and input-wise for domain experts alike, the project did not offer any form of improvement in the ground laying user experience concept since it does not provide feedback on the correctness of the process specification.…”

Section: Task-based Gui and Problem Analyzationmentioning

confidence: 99%

“…If a wider group of potential users is able to operate a system profoundly, safely, and intuitively using modern, universally applicable, and understood paradigms, human-robot interaction is able to perform a significant step forward in its general accessibility [7], [8] (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

How to teach your robot in 5 minutes: Applying UX paradigms to human-robot-interaction

Kraft

Rickert

2017

2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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Abstract-When creating modern and visually appealing user experiences for the interaction with industrial robots, previously known and universally applicable paradigms in app and web design can be utilized to increase accessibility and usability of the to be created service. This is especially the case when the expected user group consists of untrained and inexperienced users and therefore system interaction focus is laid more on build progress overview, safety for human and robot, as well as overall simplification of complicated features. In this paper, we present four of the most important paradigms of modern graphical user experiences in web and app design that can be used to forward the concept of interacting with an industrial robot without any experience-related thresholds. By redesigning an existing interaction concept of a working robot cell system for assembly tasks in a small and mediumsized enterprise environment the presented paradigms are being utilized. The achieved improvements are then examined in a before-after user study to analyze the paradigm's success in suiting the user's expectation and anticipation using the redesigned service.

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“…Orthogonal to the PbD approach is the use of high-level instructions to simplify robot programming for industrial tasks, e.g., using natural language [33] and semantically defined parameterized motion primitives [9], often called skills [28,29]. Such semantic descriptions are desirable because they enable the automatic generation of, e.g., standard PDDL 1 -descriptions for planning and scheduling of tasks or path planning and generation from virtual models [30].…”

Section: Introductionmentioning

confidence: 99%

Simplified Programming of Re-usable Skills on a Safe Industrial Robot

Stenmark

Haaae

Topp

2017

Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

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This paper presents a study on iconic programming support for mainly position-based lead-through programming of an ABB YuMi collaborative robot. A prototype tool supporting a hybrid programming and execution mode was developed and evaluated with 21 non-expert users with varying programming and robotics experience. We also present a comparison of the programming times for an expert robot programmer using traditional tools versus the new tool. The expert programmed the same tasks in 1/5 of the time compared to traditional tools and the non-experts were able to program and debug a LEGO building task using the robot within 30 minutes.

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Intuitive instruction of industrial robots: Semantic process descriptions for small lot production

Cited by 55 publications

References 19 publications

OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources

OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources

How to teach your robot in 5 minutes: Applying UX paradigms to human-robot-interaction

Simplified Programming of Re-usable Skills on a Safe Industrial Robot

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