Compliance Control and Human–Robot Interaction: Part 1 — Survey

Khan, Said Ghani; Herrmann, Guido; Grafi, Mubarak Al; Pipe, Anthony G.; Melhuish, Chris

doi:10.1142/s0219843614300013

Cited by 33 publications

(15 citation statements)

References 82 publications

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“…Robot compliance can be active or passive [30]. Table 2 lists the key features of active and passive compliance [31,32]. Active compliance is software-based.…”

Section: Active Compliance Controlmentioning

confidence: 99%

A strategy for human-robot collaboration in taking products apart for remanufacture

Huang¹,

Pham²,

Wang³

et al. 2019

FME Transactions

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Using humans and robots working together to disassemble end-of-life (EoL) products so that they can be remanufactured enables catering for the effects of uncertainties in the condition of those products and unpredictability in remanufacturing operations. Collaborative robots are one of the key elements of Industry 4.0. This paper presents a strategy for human-robot collaborative disassembly that exploits the active compliance control capability of collaborative robots. The paper outlines the proposed human-robot collaboration strategy and active compliance control. It then presents a case study of robotic disassembly designed to show a practical implementation of the proposed strategy to take products apart. The study involved the dismantling of an automotive water pump by a collaborative industrial robot working with a human operator and by two collaborative robots and a human operator. Active compliance control was implemented to separate press-fitted components from the water pump. The results demonstrate the feasibility of the strategy and its effectiveness at increasing flexibility and adaptability by reducing setup efforts.

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“…Robot compliance can be active or passive [30]. Table 2 lists the key features of active and passive compliance [31,32]. Active compliance is software-based.…”

Section: Active Compliance Controlmentioning

confidence: 99%

A strategy for human-robot collaboration in taking products apart for remanufacture

Huang¹,

Pham²,

Wang³

et al. 2019

FME Transactions

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“…In a futuristic hybrid Human Robot Interaction (HRI) environment, there is a stringent need to standardize risk hazards (Khan et al, 2014a). The prevailing concept is to completely isolate the robot system from the human worker access as shown in Figure 6b.…”

Section: Workers' Safetymentioning

confidence: 99%

Prospects of robotics in food industry

2017

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Technological advancements in various domains have broadened the application horizon of robotics to an incredible extent. Highlighting a very recent application area, this paper presents a comprehensive review of robotics application in food industry. Robots essentially have the potential to transform the processes in food processing and handling, palletizing and packing and food serving. Therefore, recent years witnessed tremendously increased trend of robots deployment in food sector. Consequently, the aspects related with robot kinematics, dynamics, hygiene, economic efficiency, human-robot interaction, safety and protection and operation and maintenance are of critical importance and are discussed in the present review. A comparison of actual robots being used in the industry is also presented. The review reveals that the food serving sector is the new potential area in which ample research opportunities exist by integrating advancements from various technology domains. It is anticipated that wider dissemination of research developments in 'robo-food' will stimulate more collaborations among the research community and contribute to further developments.Keywords: robotics in food industry; cyber physical systems; mechatronics in food handling and processing; food serving robots.Practical Application: Automation in food processing industry.

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“…24 In HRC, it is necessary for the robot to exhibit compliance to avoid injuring humans should accidental physical contact between them occur. 25,26 Active compliance implemented via controlling the robot joints and sensing (force/ torque and vision) also increases adaptability and helps mitigate the effects of uncertainties. For example, to cope with workpiece variance, active compliance control has been adopted for industrial processes such as grinding, polishing, deburring, and finishing.…”

Section: Introductionmentioning

confidence: 99%

A case study in human–robot collaboration in the disassembly of press-fitted components

Huang

Pham

Wang

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part B:

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Human–robot collaborative disassembly is an approach designed to mitigate the effects of uncertainties associated with the condition of end-of-life products returned for remanufacturing. This flexible semi-autonomous approach can also handle unpredictability in the frequency and numbers of such returns as well as variance in the remanufacturing process. This article focusses on disassembly, which is the first and arguably the most critical step in remanufacturing. The article presents a new method for disassembling press-fitted components using human–robot collaboration based on the active compliance provided by a collaborative robot. The article first introduces the concepts of human–robot collaborative disassembly and outlines the method of active compliance control. It then details a case study designed to demonstrate the proposed method. The study involved the disassembly of an automotive water pump by a collaborative industrial robot working with a human operator to take apart components that had been press-fitted together. The results show the feasibility of the proposed method.

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Compliance Control and Human–Robot Interaction: Part 1 — Survey

Cited by 33 publications

References 82 publications

A strategy for human-robot collaboration in taking products apart for remanufacture

A strategy for human-robot collaboration in taking products apart for remanufacture

Prospects of robotics in food industry

A case study in human–robot collaboration in the disassembly of press-fitted components

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