Study of the application of a collaborative robot for machining tasks

Ubeda, Rodrigo Pérez; Gutiérrez, S.C.; Zotovic, R.; Lluch-Cerezo, Joaquín

doi:10.1016/j.promfg.2019.10.009

Cited by 13 publications

(6 citation statements)

References 7 publications

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“…However, they add more elasticity to the joints of the robot. The high force produced in the contact, combined with the low stiffness, generates deflections in the end effector, causing position errors and vibrations [4,5].…”

Section: Introductionmentioning

confidence: 99%

Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

2020

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Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques and other parameters, hindering the possibility of carrying out a customized control. A good alternative to achieve a custom force control is sending the output of the force regulator to the robot controller through motion commands (inner/outer loop control). There are different types of motion commands (e.g., position or velocity). They may be implemented in different ways (Jacobian inverse vs. Jacobian transpose), but this information is usually not available for the user. This article is dedicated to the analysis of the effect of different inner loops and their combination with several external controllers. Two of the most determinant factors found are the type of the inner loop and the stiffness matrix. The theoretical deductions have been experimentally verified on a collaborative robot UR3, allowing us to choose the best behaviour in a polishing operation according to pre-established criteria.

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Section: Introductionmentioning

confidence: 99%

Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

2020

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“…However, industrial robots cannot adapt efficiently to dynamic changes in manufacturing processes caused by manufacturing paradigm shifts, such as the production of customized products (Arents & Greitans, 2022). Collaborative robots, which can combine the advantages of robotic automation with the flexible thinking capabilities of human workers, are emerging as a solution to these problems (Faccio et al, 2020; Kadir et al, 2018; Perez‐Ubeda et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Analysis of quality standards for industrial collaborative robots based on user‐centered design framework

Heo,

Putri,

Kim

et al. 2023

Hum Ftrs & Erg Mfg Svc

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Industrial collaborative robots have become increasingly important in recent years due to their ability to work safely and efficiently alongside humans. As a result, there is a growing need for evaluation standards to ensure the quality of collaborative robots. However, existing studies only consider system‐centered and technical aspects of collaborative robots, and there is a lack of research on user‐centered quality evaluation. In this study, we identified 21 user requirements based on a user‐centered design framework and confirmed the limitations of existing quality standards by reviewing the standard clauses for collaborative robots. It was found that user needs to be related to performance, safety, and even usability and enjoyment are already being expressed according to the user‐centered design framework, but the quality standards for these needs only present design principles or do not consider them at all. This study provides information on the quality attributes that need to be fulfilled to satisfy user requirements and suggests the need and direction for further research on the user‐centered evaluation of collaborative robots. Accordingly, the user's perception and experience of collaborative robots are expected to improve.

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“…Villani et al [ 16 ] compiled and compared some models specifications in his work. Collaborative Robots can be utilized in numerous industrial applications such as Assembly (screwdriving, part insertion …) [ 17 ]; Dispensing (glueing, sealing, painting …) [ 18 ]; Finishing (sanding, polishing …) [ 19 ]; Machine Tending (CNC, Injection mold …) [ 20 ]; Material Handling (Packaging, Palletizing …) [ 21 ]; Material removal (grinding, deburring, milling …) [ 22 ]; Quality Inspection (Testing, Measuring …) [ 23 ]; Welding [ 24 ] and many more.…”

Section: Introductionmentioning

confidence: 99%

Augmented Reality for Human–Robot Collaboration and Cooperation in Industrial Applications: A Systematic Literature Review

Costa

Petry

Moreira

2022

Sensors

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With the continuously growing usage of collaborative robots in industry, the need for achieving a seamless human–robot interaction has also increased, considering that it is a key factor towards reaching a more flexible, effective, and efficient production line. As a prominent and prospective tool to support the human operator to understand and interact with robots, Augmented Reality (AR) has been employed in numerous human–robot collaborative and cooperative industrial applications. Therefore, this systematic literature review critically appraises 32 papers’ published between 2016 and 2021 to identify the main employed AR technologies, outline the current state of the art of augmented reality for human–robot collaboration and cooperation, and point out future developments for this research field. Results suggest that this is still an expanding research field, especially with the advent of recent advancements regarding head-mounted displays (HMDs). Moreover, projector-based and HMDs developed approaches are showing promising positive influences over operator-related aspects such as performance, task awareness, and safety feeling, even though HMDs need further maturation in ergonomic aspects. Further research should focus on large-scale assessment of the proposed solutions in industrial environments, involving the solution’s target audience, and on establishing standards and guidelines for developing AR assistance systems.

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Study of the application of a collaborative robot for machining tasks

Cited by 13 publications

References 7 publications

Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

Analysis of quality standards for industrial collaborative robots based on user‐centered design framework

Augmented Reality for Human–Robot Collaboration and Cooperation in Industrial Applications: A Systematic Literature Review

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