Uporaba sodelujočega robota in obogatene resničnosti na primeru aplikacije sestavljanja

ERJAVEC, SIMON (author), Mihelj, Matjaž (mentor), Šlajpah, Sebastjan (co-mentor)

Razvoj industrije teži k optimizaciji dela in k višji produktivnosti. Industrija v zadnjem času stremi predvsem k pametnim tovarnam s pametnimi sistemi. Tovrstni sistemi so pogosto sestavljeni iz sodelujočih robotov, katerih posebnost je, da v proces dela lahko vključujejo tudi človeško pomoč. Med magistrskim delom smo zato želeli nadgraditi vodenje sodelujočega robota, s katerim bi operaterju izboljšali sodelovalno izkušnjo. Osnovna problematika je omejitev industrijskih krmilnikov na nabor osnovnih ukazov, ki so pogosto prisotni in uporabljeni v industriji. S tem je robotski sistem nekoliko preveč poenostavljen za razvijanje aplikacij, ki bi lahko optimizirale naloge, pri katerih sodeluje človek. K težavi nadgradnje vodenja robota smo pristopili z dodatno programsko opremo in napravami, ki nam omogočajo večjo fleksibilnost sistema. Naredili smo sistem, ki nam je glede na programsko opremo bolje poznan in je hkrati sposoben kompleksnejših vodenj in izračunov. V sistem smo vključili tudi zaslon, ki je hkrati predstavljal delovno površino in pripomoček za vodenje operaterja. Zaslon smo uporabili tudi za zmanjševanje napak prisotnih pri zaznavi objektov, kar je še dodatno izboljšalo delovanje sistema. Dobljeni rezultati prinašajo nov pogled k možnostim vodenja robota in vodenja operaterja. Rezultati predstavljajo tudi smiselno osnovo za nadaljnji razvoj sistema, ki operaterju nudi boljšo izkušnjo sodelovanja z robotom pri izvedbi naloge.

• Language: Slovenian
• Keywords: industrija 4.0, obogatena resničnost, sodelujoči roboti, sodelovalna aplikacija, pametni sistemi, interakcija med človekom in robotom
• Work type: Master's thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2018
• PID: 20.500.12556/RUL-103934
• Publication date in RUL: 28.09.2018

Secondary language

• Language: English
• Title: Using collaborative robot and augmented reality in assembly application

Abstract

Development in the industry 4.0 strives for work optimization and higher productivity, especially in intelligent factories with high implementation of smart systems. Collaborative robots are often included into such systems. The main benefit of collaborative robots is that they enable active participation of the operator in the process without any risk hazards. This work includes upgrade of the control of collaborative robots to further improve the collaborative experience of the operator. Small set of commands for industrial robots is the basic problem for achieving improved control that includes safe human participation and thus further upgrade the task execution. To enhance the performance of the system we added additional software and hardware. The upgraded system consists of collaborative robot ABB YuMi, external controller based on Matlab software package, and additional screen that serves as a workbench, as a display for instruction, and as an instrument for implementing augmented reality. In addition, we also used the screen in the process of camera calibration which further improved the overall performance. Described system presents a framework for further development of new control approaches for collaboration of the robot and the operator, which will improve task performance and enhance the user experience while working together with the robot.

• Keywords: industry 4.0, augmented reality, collaborative robots, collaborative application, smart systems, human-robot interaction