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Interface architecture design for minimum programming in human-robot collaboration
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0002-4032-4830
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0001-8679-8049
2018 (English)In: 51st CIRP Conference on Manufacturing Systems, Elsevier, 2018, Vol. 72, p. 129-134Conference paper, Published paper (Refereed)
Abstract [en]

Many metal components, especially large-sized ones, need to be ground or deburred after turning or milling to improve the surface qualities, which heavily depends on human interventions. Robot arms, combining movable platforms, are applied to reduce the human work. However, robots and human should work together due to the fact that most of the large-sized parts belong to small-batch products, resulting in a large number of programming for operating a robot and movable platform. Targeting the problem, this paper proposes a new interface architecture towards minimum programming in human-robot collaboration. Within the context, a four-layer architecture is designed: user interface, function block (FB), functional modules and hardware. The user interface is associated with use cases. Then, FB, with embedded algorithms and knowledge and driven by events, is to provide a dynamic link to the relevant application interface (APIs) of the functional modules in terms of the case requirements. The functional modules are related to the hardware and software functions; and the hardware and humans are considered in terms of the conditions on shop floors. This method provides three-level applications based on the skills of users: (1) the operators on shop floors, can operate both robots and movable platforms programming-freely; (2) engineers are able to customise the functions and tasks by dragging/dropping and linking the relevant FBs with minimum programming; (3) the new functions can be added by importing the APIs through programming.

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 72, p. 129-134
Series
Procedia CIRP, ISSN 2212-8271 ; 72
Keywords [en]
API networks, function block, Human-robot collaboration, minimum programming
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-238352DOI: 10.1016/j.procir.2018.03.013Scopus ID: 2-s2.0-85049571148OAI: oai:DiVA.org:kth-238352DiVA, id: diva2:1262597
Conference
51st CIRP Conference on Manufacturing Systems, CIRP CMS 2018, Stockholm Waterfront Congress Centre, Stockholm, Sweden, 16 May 2018 through 18 May 2018
Note

QC 20181118

Available from: 2018-11-12 Created: 2018-11-12 Last updated: 2018-11-12Bibliographically approved

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Ji, WeiWang, YuquanWang, Lihui

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