Conference Information Conference: 17th IEEE International Conference on Industrial Informatics (INDIN’19) 22-25 July 2019, Helsinki-Espoo, Finland Title of the paper: Implementing a Human-Robot Collaborative Assembly Workstation Authors: Ronal Bejarano, Borja Ramis Ferrer, Wael M. Mohammed, Jose L. Martinez Lastra

1. Implementing a Human-Robot
Collaborative Assembly Workstation
Contact Information
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Engineering and Natural Sciences Faculty
Future Automation Systems and Technologies
Laboratory (FAST-Lab.)
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FIN-33014 Tampere
Finland
Email: fast@tuni.fi
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Conference Information
Conference: 17th IEEE International Conference
on Industrial Informatics (INDIN’19) 22-25 July
2019, Helsinki-Espoo, Finland
Title of the paper: Implementing a Human-Robot
Collaborative Assembly Workstation
Authors: Ronal Bejarano, Borja Ramis Ferrer,
Wael M. Mohammed, Jose L. Martinez Lastra
If you would like to recieve a reprint of the original paper, please contact us

2. Implementing a Human-Robot
Collaborative Assembly Workstation
17th IEEE International Conference on Industrial Informatics
INDIN 2019
22-25 July 2019, Helsinki-Espoo, Finland
Ronal Bejarano, Borja Ramis Ferrer, Wael M. Mohammed, Jose L. Martinez Lastra

3. Outline
• Introduction
• Objective
• Approach
• Implementation
• Experiment
• Conclusion
25.7.2019 3

4. Introduction
• Not all the manual tasks requiring high-level of dexterity,
are yet replaced by robots
• New efficient workspaces are needed, where robots and
human operators can work safely
• Some industrial processes require robots to interact on
human operations to assembly products
• How Zero Defects Manufacturing concept fits in
collaborative robotics?
Cobot image: https://new.abb.com/products/robotics/industrial-robots/irb-14000-yumi
25.07.2019 4

5. Objective
Summarize advantages and
challenges of Human-Robot
Collaboration at the shop floor,
demonstrated by using an ABB cobot
(YuMi) and involving an operator for
assembling a box to be used for
classifying and packing final products
Cooperative
Exclusive resources
Collaborative
Complementary resources
Cobot image: https://new.abb.com/products/robotics/industrial-robots/irb-14000-yumi
25.07.2019 5

6. Approach
• Safety-rated monitored stop (IEC
60204-1 Category 2): In presence
of an operator or obstruction, the
robot should ensure stop-motion
• Hand guiding: Motion leaded by
the operator through direct
interface
• Speed and separation monitoring:
Separation distances should be
monitor by scanners, vision
systems or proximity sensors.
• Power and force limiting: Operation of robot is limited in energy to avoid harm on the operator.
The manipulator design eliminates pinch points, sharp edges or any other physical
characteristic hazardous for human direct contact.
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7. Approach
• Consolidate concepts about
collaborative features for robots
• Human role on future
manufacturing focus on
creative skills and other
occupational areas that might
require imperative social
intelligence and empathy as
education, hospitality, healthcare
and tourism
25.07.2019 7

8. Implementation
FASTory Collaborative Fixed
Storage
Mobile
FESTO
25.07.2019 8

9. Implementation
Logos: https://www.stickpng.com/img/icons-logos-emojis/tech-companies/python-logo https://freebiesupply.com/logos/html-5-logo/
Side length in mm (number of tabs) : 161(12) x 116(9) x 31(3)
25.07.2019 9

10. Experiment
71%
72%
95%
0% 20% 40% 60% 80% 100%
Rate
Collaborative assembly process test
Accuracy Precission Process time efficiency**
• The process for the collaborative
workstation went through testing on real
environment for 2 people, 25 times each
• Results in accuracy (95 %) and precision
(72 %) are acceptable for the assembly
task under test, while process time
efficiency was poor (71%)
• All the agents on the system interoperated
continuously without any issue. Web
services and web sockets were reliable
enough to interconnect the cobot to the
user interface and the production line
**Compared to manual assembly by expert operator 25.07.2019 10

11. Conclusion
Advantage
Cobots simplify the role of humans in
manufacturing
Cobots require high economic investment,
compared with human labor costs
Challenge
Safe simultaneous coexistence of robot
and human
Cobots have reduced agility and force
capacity
Guidelines for better human – robot
coexistence are mature
New technologies should focus on
interaction with human behaviors
(operator)
Cobots reduce the technological gap
between conventional robot skills and
human dexterity
Humans will need to focus in the future on
knowledge with more impact and enhance
their human-exclusive skills
Cobots facilitate programming by
demonstration. I.e. lead-through or pose
sculpt
Motion controllers in cobots are required
to solve and execute more difficult paths
including dynamic context aware and
human behavior. This might require use of
AI in the future.
Feasibility of cooperative and
collaborative work between humans and
robots is demonstrated
Additional development is needed to
match capabilities of conventional robots,
as agility and force, without compromising
human safety
Cobots can include any additional
feature beside manufacturing aid, to
improve the user experience
Commercial models require to include
better interfaces to achieve empathy /
comfort / esthetics that satisfy and
engage human users
Accuracy level is acceptable for basic
collaborative assembly tasks
Zero Defect Manufacturing strategies
should focus on precision and process
time of cobots
• This paper summarizes
advantages and challenges
of implementing cobots by
exemplifying a real industrial
scenario of human-robot
collaboration for assembly a
part-based product
25.07.2019 11

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