RRG

Robotic Research Group

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Abstract

A. FERRARO, M. INDRI, I. LAZZERO,

Dynamic Update of a Virtual Cell for Programming and Safe Monitoring of an Industrial Robot

2012 10th IFAC Symposium on Robot Control, Volume 10 Part 1 (SYROCO2012), Dubrovnik, Croatia

A hardware/software architecture for robot motion planning and on-line safe monitoring has been developed with the objective to assure high flexibility in production control, safety for workers and machinery, with user-friendly interface. The architecture, developed using Microsoft Robotics Developers Studio and implemented for a six-dof COMAU NS 12 robot, established a bidirectional communication between the robot controller and a virtual replica of the real robotic cell. The working space of the real robot can then be easily limited for safety reasons by inserting virtual objects (or sensors) in such a virtual environment. This paper investigates the possibility to achieve an automatic, dynamic update of the virtual cell by using a low cost depth sensor (i.e., a commercial Microsoft Kinect) to detect the presence of completely unknown objects, moving inside the real cell. The experimental tests show that the developed architecture is able to recognize variously shaped mobile objects inside the monitored area and let the robot stop before colliding with them, if the objects are not too small.

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video presentation frame 1 video presentation frame 1
kinect dept...
kinect depth image kinect depth image
conference ...
conference video conference video
schema kine...
schema kinect-robot placement schema kinect-robot placement
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F. ABRATE, M. INDRI, I. LAZZERO, A. BOTTERO,

Efficient solutions for programming and safe monitoring of an industrial robot via a virtual cell

2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Budapest, Hungary, pp. 434-439, 2011.

In the short- and mid-term visions for robotics development, robots are expected to be used also in small and medium-sized companies, sharing spaces with different manufacturing cycles and possibly with human operators. This objective can be fulfilled only assuring high flexibility in production control, safety for workers and for machinery, and interfaces that allow an easy use of the equipment. The development of a proper hardware/software architecture for robot motion planning and on-line safe monitoring is a fundamental step, which requires the solution of various problems, both from the theoretical and the practical point of view. A hardware/software architecture has been developed using Microsoft Robotics Developers Studio and implemented for a six-dof COMAU NS 12 robot, allowing in particular to dynamically constrain the robot motion, and to supervise it on-line. This paper develops (i) a fast and efficient procedure to perform iterative inverse kinematics, in order to achieve full programming capabilities in the Cartesian space, and (ii) safety solutions that avoid the robot to enter the off-limits regions of the workspace, considering the delays between the motion of the real robot and its replica in the virtual cell.

 

Stop positi...
Stop position of the real robot without the use of risk layers Stop position of the real robot without the use of risk layers
Comparison ...
Comparison of the virtual and real robot poses Comparison of the virtual and real robot poses
Comparing c...
Comparing chart of the distribution of 10,000 random proof  of the time of convergence of the inverse kinematics Comparing chart of the distribution of 10,000 random proof  of the time of convergence of the inverse kinematics
Stop positi...
Stop position of the real robot with the use of risk layers Stop position of the real robot with the use of risk layers
The risk la...
The risk layer for the modulation of the velocity around the obstacle virtual The risk layer for the modulation of the velocity around the obstacle virtual
Video prese...
Video presentation paper Video presentation paper


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F. Abrate, B. Bona, M. Indri, D. Messa, A. Bottero,

Motion planning and monitoring of an industrial robot via a virtual manufacturing cell

ICRA 2010 Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications, Anchorage, Alaska, USA, 67-72, 2010.

A novel hardware/software architecture is developed to establish a bidirectional interaction between an industrial robot and a virtual manufacturing cell, including a kinematic and dynamic simulated version of the real manip- ulator. The developed virtual environment can be used not only as a flexible interface for the robot motion planning, but also as an on-line monitoring system of the real robot behavior, thanks to the bidirectional communication with the robot controller. The results of some experimental tests relative to a Comau SMART NS 12 robot are reported, showing in particular how the virtual environment can be used to limit the workspace of the real robot in an easy way.

Bidirection...
Bidirectional communication architecture Bidirectional communication architecture
Projection ...
Projection on the xy-plane of the planned and the actual robot trajectory. Projection on the xy-plane of the planned and the actual robot trajectory.
Virtual mod...
Virtual model of the COMAU NS 12 robot: internal structure Virtual model of the COMAU NS 12 robot: internal structure
Video prese...
Video presentation paper Video presentation paper
Software ar...
Software architecture Software architecture
Planned an...
 Planned and modified trajectory tracked by the robot in presence of the virtual barrier of the laser sensor  Planned and modified trajectory tracked by the robot in presence of the virtual barrier of the laser sensor

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