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Cobotics
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- 2. Agenda • Introduction toCobots • Cobot vs Robot • Industrial Robots vs Collaborative Robots • 4 Types of Collaborative Operation • ABB Yumi • Baxter • UR 5 • Cobots in Education • Research Options • Cloud Robotics 2
- 3. Introduction Origin –1996 Northwestern University Professors Colgate and Peshkin Originally called – Intelligent Assist Devices Cobots – 1996 • Programmable Constraint Machine that highlights a passive and safe method for allowing a computer to create a constraint surface for a human user (and optionally a payload) to follow 3
- 4. What is a“Cobot” An Apparatus and method for direct physical interaction between a person and a general purpose manipulator controlled by a computer A machine designed to not replace a worker, but to help them do their job more efficiently and safely Intended to physically interface with humans in a shared workplace. This is in contrast with other robots designed to operate autonomously or with limited guidance 4 Collaborative Robot Cobot
- 5. What is a“Cobot” Safely works alongside workers without safety cages • Works at human cadence • Uses force feedback or other sensing methods to prevent injury • Utilizes safe end-effectors Does simple, repetitive tasks Easily programmed -- and re-programmed -- by workers • Programmable in minutes • Usable by shop floor supervisor or CNC operator • Learn by doing teach mode • No programming required Applications • Machine Tending (CNC loading) • Tester Operation (In Circuit Test, Consumer Electronics Test) • Packaging (Sterile Food Handling) 5
- 6. Cobot vs Robot •Safer compared to robots • Flexible and easy to use • Understands people and environment • Tasks are performed similar to human way • Can be trained by demonstration • No/minimum integration required • Affordable • Potential danger to human safety • High precision and repeatability • Unaware of surrounding • Definite operations for tasks completion are required • Need expert programmers • Integration is costly • Expensive 6 Cobot Robot
- 7. Industrial Robots vsCollaborative Robots $ End-of-Arm-tooling $ 3-Phase Power $ Infrastructure $ Fencing &Guarding $ Light Curtains $ Safety Scanners $ Software License $ Maintenance/Repairs $ Integration/Programming $ End-of-Arm-Tooling 7 Additional items and Average implementation costs Industrial Robots Collaborative Robots
- 8. 4 Types ofCollaborative Operation Safety Monitored Stop (A stop is assured without removal of power) Safety devices such as a laser scanner that detects employee entrance into the designated robot zone If an employee is detected entering the robot zone, the robot stops and the employee can perform any necessary work operations, and then resume the robot at the push of a button For example, this type of collaboration is often used when a large industrial robot is needed due to loads, but a secondary operation has to be performed by an operator Speed and Separation Monitoring( Robot system speed will be controlled based on the separation between it and any intrusion) The area around the robot is constantly monitored by a vision system, which can detect employee proximity to the robot If the employee enters the “warning” zone, the robot slows to a safe speed and if the employee enters the “stop” zone, the robot pauses until the employee has left the zone Once the employee leaves the zone, the robot automatically resumes operation Hand Guiding (Essentially a manually controlled robot system) It allows a programmer to “teach” robot paths and positions simply by moving the robot with their hand to the desired position The new positions can be taught quickly which limits downtime It should be noted that if the robot is not a force limited robot, the proper safety guarding and logic should still be in place for regular operations Power and Force Limiting Robot speed, torque, motion can be controlled so that impact will not hurt or injurie These robots are designed with collaboration in mind meaning they don’t have any sharp corners, exposed motors, or pinch points They have sensitive force monitoring devices, and often have a padded “skin” to dissipate force in the event of a collision. These robots work alongside humans and stop instantly if any collision is detected 8
- 9. What is EndEffectors ? • In robotics, an end effector is a device or tool that's connected to the end of a robot arm where the hand would be • The end effector is the part of the robot that interacts with the environment • End effectors used in manufacturing include 9 anti-collision sensors brushes cameras cutting tools drills grippers magnets sanders screw drivers spray guns vacuum cups welding guns
- 10. Actuators • An actuatoris the actual mechanism that enables the effector to execute an action • Typically include: – • Electric motors • Hydraulic cylinders • Pneumatic cylinders 10
- 11. Effectors and Actuators •Two basic ways of using effectors – to move the robot around ⇒ locomotion – to move other object(s) around ⇒ manipulation • Thus robots are divided into – mobile robots – manipulator robots 11
- 12. Degrees of freedomand Actuators • Most simple actuators control one degree of freedom • i.e., a single motion • E.g., up-down; left-right; in-out • Example: – Motor shaft – Sliding part on a plotter 12
- 13. Degrees of freedomand Effectors • How many degrees of freedom a robot has is very important in determining how it can affect its world, and therefor how well, if at all, it can accomplish its task Both sensors and effectors must be well-matched to the robot’s task!! 13
- 14. Servo Motors • Servomotors = motors that can turn to a specific position (and stop) • Basic DC motors cannot do this • Servo motors are constructed out of DC motors by adding: – gear reduction – position sensor for motor shaft – electronic circuit to control motor’s operation 14
- 15. Servo motors: Control •Most have movement reduced to 180º (instead of full 360 º) • Motor driven with a waveform that specifies the desired angular position of the shaft within that 180 º range • Waveform is given as a series of pulses, within a pulse-width modulated signal • Thus the width (i.e., length) of the pulse specifies the control value for the motor (i.e., how the shaft should turn) 15
- 16. Power and ForceLimiting (PFL) • Form of collaborative operation in which incidental contact between moving robot and human body region can occur • Contact is not excluded, thus it must be thoroughly understood and controlled to minimize risk • Risk reduction uses – Suitable robot design – Suitable application design (tooling, work pieces, fixtures, motion patterns, etc.) – Biomechanical limit criteria on contact events – Design and control means to respect limit criteria 16
- 17. PFL – PossibleMisconceptions • Use of collaborative robots featuring PFL does not mean – Simply remove fences without further considerations – “Safe” robot will render entire application “safe” – Requires a higher safety performance level than standard industrial robots – Will be too slow for productive applications 17
- 18. ABB Yumi Overview •ABB will be selling its Yumi at around $40,000 USD • Design is based on a revolutionary integration of motion control software • With the simple human touch, the robot will stop within milliseconds • No fencing ,No light curtains • Enclosed design • It is human sized, can fit into human spaces • Real-time algorithms set a collision-free path for each arm customized for the required task • No safety systems necessary, because all of Yumi's safety devices are built into the robot • It has • The advanced ABB IRC5 controller, • True Move and Quick Move technology, • I/O interfaces come with Ethernet IP, Profibus, USB ports, Device Net, communication port, emergency stop and air-to-hands 18
- 19. Enclosed design • Encloseddesign allows all wiring and air to go through the inside of the robot • Reduced maintenance • Less risk of cable and air hose damaged • Can be used in confined spaces • Easy to keep clean • No risk of dust collecting on cables 19
- 20. Space-saving • No needto alter existing working environments 20
- 21. IRC5 • The ABBIRC5(Industrial robot controller)is a fifth generation robot controller that combines motion control, flexibility, modularity, usability, application interfaces, and safety • Motion control is the part of automation that handles the kinematics and the electromechanical portion of machines in a deliberate and controlled manner. • The primary components of a motion control system are the controller and the power amplifier 21
- 22. ABB- Yumi technicaldata Payload 0.5 kg per arm Reach 559 mm Accuracy 0.02 mm Footprint 339 mm * 497 mm Mounting interface Foot interface Weight 38 kg Mounting position Table Temperature 5 C – 40 C deg IP Protection IP 30 Clean room/Food grade ISO lvl 5 22 IRB 14000 – 0.5/0.5
- 23. Maximum velocity Motion RangeMax. Velocity Axis 1 Rotation +168.5° to -168.5° 180 °/s Axis 2 Arm +43.5° to -143.5° 180 °/s Axis 7 Rotation +168.5° to -168.5° 180 °/s Axis 3 Arm +80° to -123.5° 180 °/s Axis 4 Wrist +290° to -290° 400 °/s Axis 5 Bend +138° to -88° 400 °/s Axis 6 Turn +229° to -229° 400 °/s 23
- 24. Key features • Maximumload per arm: capacity with grippers: 239 g • Maximum load per arm: capacity without grippers: 500 g • Position repeatability: ±0.02 mm • Workspace radius 560mm • Programmable via rapid on HMI pendant or Robot studio • Device Net Master/Slave, profibus adapter, wan, lan, Profinet and air supply (0.6 MPa) 24
- 25. ABB- Yumi Cont.. Lightweight Dual padded and magnesium arms enabling multitasking No pinch points Impart sensing Multifunctional hands Flexible hands Speed-limited hardware A compact frame SmartGrippers with integrated vision, vacuum and servo fingers Lead through programming Precise motion control (0.02mm repeatability) 25
- 26. ABB Yumi 26Source :ABB Robots
- 27. Pinch Points • Apoint in between moving and stationary parts of a machine where an individual's body part may become caught, leading to injury 27
- 28. Customer benefits • Paddedarms - Including internal wiring and air • Integrated controller - New in ABB portfolio • Lightweight construction - Makes the robot portable • Ease-of-use - Lead Through Programing • Enclosed design - Lower maintenance • Integrated vision and integrated hands - Built in to product and easy to integrate • Safety certified - Certified by an independent body • Dual arm – Multi-tasking 28
- 29. 1. Padded arms •Adds to safety of operators if there is an unlikely contact during operation • The robot can be run faster due to added protection • Faster robot means the ROI will be greater 29
- 30. 2. Integrated Controller •Embedded controller based on IRC5 • Portable (38kg) • External connectors • Built-in 8 in /8 out • Saves working space • Better cell layout • Equipment can be placed closer to, or around, robot without interference • Robot is more streamlined and easy to relocate • No floor cables or control cables 30
- 31. 3. Lightweight construction •Makes the robot portable • Increases safety of the robot • Smaller frame to mount the robot 31
- 32. 4. Ease-of-use • Lead-ThroughProgramming makes the programming easy • Integrated vision can pick parts without fixture • Can use Yumi App for programming on a wireless tablet • Standard IRC5 system as other ABB robots for uniform programming environment • Can use Robot Studio for offline programming and simulation 32
- 33. 5. Enclosed design Encloseddesign allows all wiring and air to go through the inside of the robot – Reduced maintenance – Less risk of cable and air hose damaged – Can be used in confined spaces – Easy to keep clean – No risk of dust collecting on cables 33
- 34. 6. Integrated visionand integrated hands Integrated vision • Cameras embedded in gripper • Integrated hands makes it possible to use the hand for vison guided picking • Can be used for simple inspection Integrated hands • No need to design your own hand • Multi-option hand with five options • Integrated communications and air • Servo • Vacuum • Camera 34
- 35. 7. Safety certified •No need to certify the robot • Can be included in your risk assessment of the cell • Independent body has certified the robot • PL b Cat b 35
- 36. 8. Dual arm •Possible to achieve contact force assembly between arms • Can process two tasks at the same time • Operation similar to a human assembling 36
- 37. Protection IP Protection IP 30(Standard) – It is sufficient for assembly 37 ESD Protection It makes it possible to handle static sensitive parts Perfect for electronic assembly No need to test as it is certified robot Cleanroom Yumi IRB14000 has been certified by Fraunhofer institute (IPA) in Germany to fulfil Cleanroom requirements of ISO 5 level
- 38. Key applications andsegments • Electronics assembly • Automotive Electronics • Consumer products and general industry • Medical Equipment • Toys • Other small parts manufacturing Segments • Harsh environments • Handling naked food Applications not suitable for • Small Parts Assembly • Collaborative Assembly • Accurate and fast assembly • Testing and packaging • Material handling • Inspection Applications Suitable for 38
- 39. Vision Guided-Assembly • Visionincluded in hands as package • Vision can also be connected to robot for external devices like flex feeders • This makes it possible to have less jigging and move to a more • Flexible cell design 39
- 40. Small Parts Assemblyusing the Flex Feeders and ABB gripper • Gripper and Flex Feeders (possible only in Yumi) make it possible to have a complete solution from part handling to assembly • Odd sorted parts can be placed in Flex Feeders and presented to the robot in a two dimensional plane 40
- 41. Small Parts MaterialHanding • After the assembly process is complete the robot can place the finished product in box ready for shipment • Yumi working side-by-side handing finished parts to be packed 41
- 42. Summary Safe and collaborative •No cages needed • Padded arms and light weight design • Designed to be inherently safe Ease-of-integration • Wide range of communications interfaces • Integrated hand equipped with vision Integrated controller • Light weight and portable Ease-of-use Lead • Through Programming Increased ROI • Fast accurate assembly • lower changeover costs 42
- 43. Baxter • Build byRethink Robotics(Rodney Brooks) • Animated faces to communicate with their co-workers • 2 arms with 7DOF • 2-dof head • A vision system • A robot control system • A safety system • An optional gravity-offload controller and • Collision detection routine • Its cameras and force-sensing actuators let it adapt to changes in the environment 43
- 44. Baxter • 7-dof robotarms are classified as kinematically-redundant i.e. possessing more joint freedoms than necessary to operate fully in the desired Cartesian space • Specifically, Baxter has n = 7 single-dof revolute (R) joints, which is one greater than the m = 6 Cartesian dof (3 translations and 3 rotations) for general trajectories (n>m) • The Baxter designers consider a 2-dof shoulder, a 2-dof elbow, and a 3- dof wrist 44
- 45. Baxter 7-dof LeftArm R Joints Joint Name Joint Motion S0 Shoulder roll S1 Shoulder roll E0 Elbow roll E1 Elbow roll W0 Wrist roll W1 Wrist roll W2 Wrist roll 45
- 46. Technical Specifications 46 • Baxteris about 3’ tall (around 6’ tall with stationary pedestal) and • Weighs 165 lbs. (306 lbs. including the pedestal). • Baxter has a 103” ‘wingspan’ and • A 32” x 36” pedestal base • Both 7-dof arms include angle position and joint torque sensing • For Cartesian sensors, there are • Three integrated cameras, • Plus sonar, • Accelerometers and • Range-finding sensors. • Each Baxter arm has a • Temperature sensor, • Allowing human fingers to be detected for lead-through programming
- 47. Technical Specifications Cont.. 47 •The maximum payload, including the end-effector in the safety-enabled mode, is 2.3 kg • This increases to about 25 kg with safety disabled • The joint sensor resolution for each of the 7-dof arm joints, right and left, is 14 bits for 360 degrees , which works out to 0.02197 degrees per encoder count • The onboard computer consists of a third-generation Intel Core i7-3770 8MB 3.4 GHz processor with HD4000 Graphics, 4GB 1600 MHz DDR3 memory, and 128 GB solid state hard drive • The camera has a maximum resolution of 1280 x 800 pixels (640 x 400 pixels effective resolution), with a 30 fps frame rate and 1.2 mm focal length • The animated face flat screen has a resolution of 1024 x 600 pixels
- 48. Getting to KnowBaxter 48
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- 50. Turning on Baxter •Press the white power button on the lower left back of the robot • The lights on the head turn on, and the main screen appears on the Baxter display 50
- 51. How to Interact withBaxter Using the Training Cuffs • Use the training cuffs to move the arms, to manipulate the state of the grippers, and secondarily, to select on-screen options • Training cuff switch: Squeeze this switch at the indentation in the cuff to move the robot’s arm. When this switch is squeezed, the blue indicator on the arm’s navigator button lights up • Grasp button: Press to toggle a parallel gripper open or closed, or a vacuum gripper on or off • Action button: Press to select items on the display screen. Create waypoints, Hold actions; select, copy, or move actions on the task map; create a new subtask; add/create landmarks; outline a visual search 51
- 52. Navigating the Screens • Usethe navigator on either of the arms to scroll to and interact with options on the screen. When you press the OK button (2) (or the action button on the cuff), the white indicators on the navigator light up • Back button: Press to exit the current screen and return to the previous screen. Will also cancel the last action • Knob: Scroll the knob to move between on- screen options. Press the knob (OK) to select an option • OK indicator light: When the action button on the cuff or the OK button on the navigator is pressed, the white indicator around the knob lights up • Rethink button: Press to display options for the current screen • Training cuff indicator: When the switch on the cuff is squeezed, the blue indicators along the top and bottom edge of the navigator light up 52
- 53. Moving the Arms •To move an arm, squeeze the cuff at the indentation just above the other buttons, and push or pull the arm to the location you want • Squeezing the cuff releases the tension and resistance in the arm, making it easier to manipulate • With its seven degrees of freedom—an incredible amount of flexibility— Baxter enhances arm stability by attempting to fix its elbow in position whenever the lower arm is moved • Note: When the switch is pressed, the blue indicator lights illuminate on the corresponding navigators on the arm and torso 53
- 54. Elbow and cuff •When grasping the training cuff, you can move the arms by either repositioning the lower arm or changing the height of the elbow • To move the lower arm: While squeezing the cuff (1), move the robot’s arm to the desired location • To move the elbow: By design, the elbow (2) will try to maintain its current height and will spring back if you do not actively reset it. While squeezing the cuff, move the elbow to the desired position. Continue to hold the elbow at the new location, and release the cuff. This will reset the elbow at the new position. 54
- 55. Grasping Objects • Traininginvolves showing Baxter how to pick up and place objects • To grasp an object: Position the gripper over the object, press Grasp • To release an object: With an object in the robot's hand, press Grasp • To open or close the gripper without creating a pick or place: Without an object in hand, press Grasp twice quickly 55
- 56. Eye Expressions • Baxterdisplays one of six eye expressions in response to what it is doing or what it senses happening in its environment 56
- 57. Expressions • The surprisedexpression is emphasized with an orange background when Baxter is working and unexpectedly detects someone has entered its space (currently, this only happens when a safety mat is connected and stepped on); Baxter also automatically slows its movement • Attention Ring The attention ring lights appear in clusters of two or three when Baxter detects movement. When Baxter is confused, the yellow lights in the ring appear and flash simultaneously 57
- 58. Condition Ring The conditionring communicates the condition of the robot 58
- 59. “Light Bulb” Tips •When you see a "light bulb" symbol on a screen, that means there is a tip (or tips) on how to use that functionality. Select the light bulb to display the tip. (These tips are available on the Modify Waypoints Screen, the Advanced Screen, and the Action Practice screens. ) 59
- 60. Move the Arm Grabanywhere along Baxter’s arm and push and pull on it slightly to feel its resistance. Now, grab the indented portion of the training cuff, the part between Baxter’s wrist and grippers, and squeeze it just above the buttons on either side. Baxter is now in “Zero G” mode and you can now move the arm easily Release the training cuff and the arm becomes (semi-) rigid again. Note that the arm stays in the location and orientation it was in when you stopped squeezing the training cuff. The location and orientation of the arm (its shoulder, elbow, wrist, and so on) is called its pose 60
- 61. THE NAVIGATOR • Onboth of Baxter’s arms, and on either side of Baxter’s torso, is the Navigator, a set of buttons and a knob you use to make selections on Baxter. The selections you make on the Navigator are shown on Baxter’s display 61
- 62. Create a NewTask • The job you train a robot to perform is called a task. A task can be very simple, like the pick and place you’re about to create, or much more complicated, involving multiple pick and place locations, a variety of poses, and sending and receiving signals from other machines and devices • In this module, you will use the selector knob to scroll through options on the robot’s display and press it to make a selection. We refer to pressing the scroll knob to make a selection as “pressing the OK button” or sometimes, “press OK on the Navigator.” • You press the Back button on the Navigator when you want to return to the previous screen • Scroll the knob to reveal the main button bar and stop scrolling when you reach the New Task icon Press OK on the Navigator. Baxter displays a blank Task Map 62
- 63. Create a NewTask Cont.. The Task Map is a top-down view of the Baxter workspace (a.k.a. work envelope) • Blue icon - the location of the end of the right arm • Green icon - the location of the end of the left arm • Dark gray shaded area - where the arm can reach • Indicators along left side - reflect the current state of each joint in relation to its hard stop limit. Bottom indicator represents the joint closest to the robot’s base. Indicator on top is the training cuff. Other joints are represented in order between the cuff and the base • Bar on right - task name 63
- 64. 64 • Move Baxter’sright arm in Zero G by pressing and holding the training cuff. Watch the blue icon move on screen in response to the movement of the arm • Notice that when a joint moves closer to its limit, the indicator lines turn from gray to red. If an indicator turns completely red, you have reached the joint’s limit. If the blue arm icon itself turns gray, you will be unable to train an action until you move the arm to a better position. This may be because one of the joints is at a hard limit, which would prevent the robot from performing an action • A gray arm icon could also mean the arm is too close to the head. The robot has anti-collision software that protects the robot from coming into contact with itself. You can see this in action by trying to push the end of the arm into the head while in zero G
- 65. Grasp an Object •There are two buttons on the training cuff we have not used to this point. The oval button is called the Grasp button. The round button is the Action button • The Grasp button makes the gripper open and close. The Action button brings up additional menus on the Task Map. Press each button now to see the effect of each. • The robot grasps the object and the Task Map displays a Pick icon in the location where the part was picked. Notice that the top left corner of the Pick Icon displays 1A. That means the action you just trained is the first action in the first subtask 65
- 66. Grasp an Object •With the part in the robot’s gripper, move the right arm (in Zero G) to where you would like to place it. Press the Grasp button to release the part from the gripper. A Place icon is displayed on the Task Map where you trained the place, along with a subtask number and sequence letter 66 Task Map will now look something like this
- 67. 67 • Return theobject to the spot where you trained the pick. Press the Back button on the Navigator to display the Main Screen, then scroll to and select Reset to start the task. The arm moves to the pick location, picks the part, moves to the place location, places the part, then automatically resets Congratulations! You have just trained your first task using Baxter! • Press the Rethink button on the Navigator and select Rename. Then name this task “Task 1” so you can refer back to it as you continue through this guide
- 68. Labeling Actions • Generally,the robot’s tasks involve Pick actions followed by Place actions. To make it easier to distinguish one action from another, actions are labeled on the Task Map with the subtask number and appended with a letter. • For example, if subtask 1 includes a Pick>Hold>Hold>Place, the actions on the Task Map will be labeled: -- Pick 1A -- Hold 1B -- Hold 1C -- Place 1D • A subtask is a routine, or sequence of actions, the robot will perform within a task. A task can have one or multiple subtasks. As with actions, subtasks can have counts and signals associated to them 68
- 69. Main Screen 1. Currenttask name 2. Current task options • Run – run the task from where the task left off • Reset – reset the count, and restart the task from the beginning • Modify – open the task map so the user can make changes to the task’s elements. 3. Baxter eyes – The robot uses eye expressions to communicate to users in a familiar way by glancing in the direction in which it’s about to move. Baxter also has other expressions to communicate its different states 4. Main options: • New – create a task • Tasks – opens the task gallery, a visual list of existing saved tasks • Settings – open Baxter administration and hardware settings • Power – open Baxter power options: Sleep, Restart, Shutdown, and Lock/ Unlock 69
- 70. TASK MAP ATTRIBUTES 1.Baxter workspace. 2. Joint limit indicators - display the current state of each joint of the active arm in relation to its mechanical limit. 3. Real time location of end of right arm. 4. Weight label - displays the part weight designated for a particular action. (Here, a .7kg weight has been designated for Pick action 1A. 5. Pick action icon - a point in the robot’s workspace where the end of arm tooling will attempt to pick an object. 6. Task name - name given to the task currently being modified. 7. Place action icon - a point in the robot’s workspace where the end of arm tooling will release a picked object. 8. Location of end of arm - icon that represents the real-time location of the end of the arm. 9. Hold Action - a point in the robot’s workspace where the end of the arm will move through, or wait at, when the task is run 70
- 71. 71 Pressing the Rethinkbutton while on the Task Map opens the task map button bar • Back – Close the button bar and return focus to the task map. This can also be done using the Back button on the Navigator • Run – Continue the current task from the point at which it left off • Order – Open the task order screen. See “Managing Tasks and Subtasks” • Rename – Modify the name of the task. When starting a new task, Intera will give it a default, numeric value task name, e.g., “Task 7.” Tip: Entering a unique, descriptive name will help you to more easily identify the task in the task gallery • I/O – Open the signals gallery • Landmark – Open the landmark gallery The Task Gallery is the list of saved tasks on any robot. It is accessible from the main screen, when you select the Tasks button from the menu bar. Use the task gallery to view the details of and select, copy, or delete a trained task
- 72. Task Gallery 1.Sort the tasks in the Task Gallery by selecting one of these options in the scroll box: • name - alphabetically, by name of task • modified - when the task was last modified • created - by most recently created task 2. Displays a visual list of all saved tasks, each with the name of the task and a small preview image of the task map. Note: If a task name exceeds 21 characters, only the first thirteen and last thirteen characters of the name, separated by ellipses, will appear. On the Task Map, the task name will trail off on either side 3. Displays details about the highlighted task. • End effector specifics - shows what end effector was used to train the task, along with its parameters (weight and length). • Expanded task map view - This symbol indicates a mismatch between the installed gripper and the one used in the viewed task 72
- 73. 73 After choosing andselecting a task from the gallery, the User Interface will display a submenu for that task • Back – Close the button bar and return focus to the task gallery. This can also be done with the Back button on the Navigator. • Open – Open the task map for the selected task. • Rename – Modify the name of the task. Tip: Rename a task with a descriptive name when you first create it so that you can easily identify it later in the task gallery. • Delete – Delete the task. Note: The robot must always have at least one task stored. If only one task exists, and it is deleted, the robot will create a new “empty” task. IMPORTANT Once the deletion is confirmed, the deleted task cannot be restored. • Copy – Create a new task based on the current one. Tip: If you’re training a complicated task, save a record of your changes by copying the task as you build it. You can always refer back to the previous version of the task in the Task Gallery. • New – Create a new, empty task and open the task map.
- 74. Delete tasks onthe robot from the Task Gallery 1. Press the Rethink button while in the Task Gallery. 2. On the submenu that appears, select Delete All. You will be asked to confirm the deletion of all tasks. IMPORTANT: Be careful when using Delete All. Unless you have previously backed up your tasks, all tasks are gone once you delete them. There is no recovery of tasks without a backup 74
- 75. Steps in trainingpick and place 1. In the main button bar, click New to start a new task 2. Enable zero-G mode by squeezing the training cuff 3. Move the arm to the location in the robot’s workspace where you’d like to pick the object from. If using an electric parallel gripper, poise the fingers to grip the object. If using a vacuum gripper, place the suction cup on the object 4. Press the Grasp button on the training cuff. The robot enables the gripper and grasps the object. The head will nod, indicating a successful action has been created. Verify that the Task Map now displays a Pick icon 5. Press the OK button on the Navigator 6. Select and press the + button on the Pick’s modify panel 75
- 76. 76 Select the weighticon to add the part weight and press OK IMPORTANT: Always enter the part weight when training a Pick. The robot will account for the weight of the part during movements after the Pick action, ensuring the most accurate trajectories and placement 7. Enter the weight of the part and click OK. The weight you entered will be displayed on the Modify Panel as well as next to the Pick icon on the Task Map 8. Press the Back button on the Navigator to return to the Task Map. 9. Move the arm in Zero-G to the location where you want to place the object
- 77. 77 10. Press theGrasp button once to release the part and create a Place location. The robot releases the object and displays a Place icon on the Task Map 11. Press Back to open the Main Button Bar and select Reset or Run to perform the task
- 78. UR 5 • Iconiccollaborative robots were built with versatility and adaptability in mind. • Lightweight, easily programmable and highly customizable, the UR5 is designed to integrate seamlessly into any production facility regardless of industry, size or product nature • The UR5 does in 4 hours what it would take manual labor 2-3 days to accomplish 78
- 79. Technical details Repeatability ±0.1mm / ±0.0039 in (4 mils) Ambient temperature range 0-50° Power consumption Min 90W, Typical 150W, Max 325W Collaboration operation 15 advanced adjustable safety functions. TüV NORD Approved Safety Function Tested in accordance with: EN ISO 13849:2008 PL d 79 Performance Payload 5 kg / 11 lbs Reach 850 mm / 33.5 in Degrees of freedom 6 rotating joints Programming Polyscope graphical user interface on 12 inch touchscreen with mounting Specification
- 80. Technical details Footprint Ø149mm Materials Aluminum, PP plastics Tool connector type M8 Cable length robot arm 6 m / 236 in Weight with cable 18,4 kg / 40.6 lbs 80 Physical Features IP classification IP54 ISO Class Cleanroom 5 Noise 72dB Robot mounting Any I/O ports Digital in 2 Digital out 2 Analog in 2 Analog out 0 I/O power supply in too 12 V/24 V 600 mA in tool
- 81. Technical Details Controlbox Features 81 IP classification IP20 6 ISO Class Cleanroom 6 Noise <65dB(A) I/O ports Digital in 16 Digital out 16 Analog in 2 Analog out 2 I/O power supply 24V 2A Communication TCP/IP 100Mbit, Modbus TCP, Profinet, EthernetIP Power source 100-240 VAC, 50-60 Hz Ambient temperature rang 0-50°
- 82. Technical Details Controlbox Physical • Control box size (WxHxD) - 475mm x 423mm x 268mm / 18.7 x 16.7 x 10.6 in • Weight -15 kg / 33.1 lbs • Materials – Steel TEACH PENDANT Features • IP classification – IP20 Physical • Materials - Aluminum, PP • Weight - 1,5 kg / 3.3 lbs • Cable length - 4,5 m / 177 in 82
- 83. UR 5 • Thelightweight, highly flexible, and collaborative UR5 industrial robot arm lets you automate repetitive and dangerous tasks with payloads of up to 5 kg • The UR5 flexible robot is ideal to optimize low-weight collaborative processes, such as • picking, • placing and • testing 83
- 84. UR 5 • TheUR5 has freed the workers from repetitive tasks and has in the process improved both the product quality and the production time • UR5 is moved around the production facilities according to need and is reprogrammed with great ease by in-house workers • Work shoulder to shoulder with the operators in a shared space with no fencing 84 • Automates tasks up to 5 kg (11 lbs) • Reach radius of up to 850 mm (33.5 in)
- 85. Applications 85 Screw driving Pick& Place/Machin e Tending Welding Pick & Place/Injection Molding Assembly
- 86.
- 87. Cobots in Education:Why? What? How? And What For? • General Purpose Technology • Collaborative robots in the classroom deliver hands-on learning • Best tool for Project Based Learning (PBL) • Collaborative Robots strengthen scientific and technological culture in schools • Collaborative Robots are tools to facilitate the transfer of knowledge through trans-disciplinary activity- based projects • Collaborative Robots are good tools for applying scientific thinking, (through enquiry-based activities, for instance) • Collaborative Robots are ideal artifacts for making abstract knowledge concrete, e.g. for teaching real-world application of math, science, programming and engineering 87
- 88. Program Benefits • 70percent of the student’s time is in the lab, performing real-world examples on an ABB robot to boost engagement, retention of information, and promote student success • Students will learn robotic cell hazards, health and safety and maintenance requirements • Students will utilize the same robots and software that are used in industry, including the offline programming software Robot Studio • Using hands on training, students will learn to utilize the latest automation technology while applying Science, Technology, Engineering, and Math (STEM) • Schools can use the new package to integrate robot training into their programs and initiatives, including STEM initiatives • Cobots are shaping the education industry by giving students the opportunity to learn about robotics first hand. Within interactive learning environments, students are introduced to automation and industrial applications, mastering robot programming in minutes 88
- 89. Possible applications • Handlingof materials, lightweight tools and small parts • Measuring, testing and inspection • Assembling and processing of small parts • Human interaction, multi-tasking and collaboration • Exploring cobot response to various training techniques • Determine weather or not a certain action is safe on a human • Opportunity to automate tasks that were previously automated • Current research level at peer universities involves vision control study and human-robot interaction • Cobots are used to package parts, palletize boxes, load conveyors, and more - De Keijser • Cobots are especially well-suited to complex assembly tasks, including small or delicate components • Operating a coffee machine in less than 90 seconds, including removing the capsule, as well as performing a little dance between making cups of coffee 89
- 90. ABB Certification ProgramDetails • Instructors at schools are certified to teach courses after they have completed the required steps for certification • Our ABB Robotics instructors are able to certify teachers and professors to teach classes even if they start the process with little or no robotic experience • They will learn robotics from the ground up through the completion of our customized training course and hands on training • After the instructors have completed the training, they are required to pass a certification exam, and will be provided with course outlines and materials • The certification timeline can be flexible based on the instructor’s schedule 90
- 91. ABB’s SMART packagefor education provides valuable opportunities for both students and teachers • ABB is now offering the exclusive SMART (Software, Maintenance and Robotics Training) package to qualifying schools • ABB’s certification program uses active learning to provide real-world, hands-on examples and interactive labs to boost engagement and student success • ABB’s robotic package for education is available for purchase exclusively to High Schools, Universities, Community Colleges, Technical Colleges, Vocational Schools, and Adult Education Centers • Robot Studio provides the tools to increase the profitability of your robot system by letting you perform tasks such as training, programming, and optimization without disturbing production 91
- 92. Top 10 benefitsof using Robot Studio 1. Risk reduction: Robot reach, path, and cycle time is assured 2. Quicker start-up: Logic and motion are already developed 3. Shorter change-over: New parts easy to add by importing the CAD data 4. Increased productivity: Reduces weeks of potential programming down to days 5. New usability features added each year 6. Integrated rapid Editor: Chromacoding & syntax checking intellisense for less debugging 7. Available in 64 bit edition 8. Intuitive design: Provides a comfortable programming environment 9. Signal analyzer: Allows easy viewing of timing and handshaking and easy debugging including joint limits, power consumption, and more 10. Robot position monitor: Allows viewing of actual robot position on screen for more intuitive program design 92
- 93. Cloud Computing • Cloudcomputing is a type of computing that relies on sharing computing resources over internet rather than having local servers or personal devices to handle applications • Here the servers, storage and applications are delivered to computers and devices through the internet • Provides a shared knowledge database • Enabling Factors • Mobile Devices • Wireless networks • Rapidly expanding Internet resources 93
- 94. Cloud Robotics • Robotsthat rely on cloud-computing infrastructure to access vast amounts of processing power and data • Allow robots to offload compute-intensive tasks • Image processing • Voice recognition 94 Cloud Computing Robotic Operating System (ROS) Cloud Robotics
- 95. Cloud based Robotics •Roboticoperating system Service Oriented Architecture •Cloud based Localization and Mapping •Cloud Based Object Identification •Cloud based Decision Making Remote Brain •Human in The Loop Cloud Based Robotics •Cloud Based Telepresence Robotics Cloud based Teleoperation and Telepresence 95 Robot Brain (software) Platform (hardware) Decision Knowledge Local Cloud Based
- 96. Cloud Provides… • Deviceand location independence • Significant workload shift from the local computers • Sharing of resources and costs across a large pool of users • High reliability and efficiency • Improved security due to centralization of data • Easiness in supporting and improving a software • Scalable – dynamic provisioning of resources 96
- 97. ROS (Robotic OperatingSystem) • Software framework for robot software development • Developed in 2007 under the name switchyard by the Stanford Artificial Intelligence Laboratory in support of the STAIR • Based on graph architecture & is geared toward a Unix-like system • Doesn’t have to “reinvent the wheel” 97
- 98. ROS is.. • Peer-to-peer •Multi-lingual • Tools-based • Free and Open – Source • Exponentially growing • Used in many applications 98
- 99. What Robots cando if connected to Cloud ? 99 Receive Understand Share& React
- 100. Messaging Mechanism (1/2) •The ROS platform is used as framework for our robotic environment • ROS provides flexible modular communication mechanism for exchanging messages between nodes • Nodes are processes running on robots 100 TOPIC NODE NODE Publication Subscription Service Invocation
- 101. Messaging Mechanism (2/2) •Nodes are pieces of software that can be written in python or C++ • If a node has information, this will share information using a topic & if another node is interested in that information, it subscribes to that topic & reads the information 101
- 102. Publishing and Subscribing •Any node can publish a message to any topic • Any node can subscribe to any topic • Multiple nodes can publish to the same topic • Multiple nodes can subscribe to the same topic • A node can publish to multiple topics • A node can subscribe to multiple topics 102
- 103. Communication • Several standardslike Bluetooth and Wi-Fi Direct have been developed for short range wireless communications between robots. For long range communications, radio frequency and microwave communication technologies may be used 103
- 104. Communication • The cloudrobotic architecture leverages the combination of an ad-hoc cloud formed by machine-to-machine(M2M)communications among participating robots, and an infrastructure cloud enabled by machine-to- cloud(M2C) communications. • Robots in a network can communicate if they are within communication range of each other, and with the cloud servers if the robots are close to access points of the cloud infrastructure. 104
- 105. Why should weuse Cloud Robotics ??? • Offloads the heavy computing tasks to the cloud • Lower the barrier to entry for robotics • Scalable CPU, memory ,and storage • Shared knowledge database • Hardware upgrades are invisible & hassle-free • Longer battery life • Expanding the knowledge beyond “Physical Body” • Easier-to-maintain hardware 105
- 106. Implementations till now.. •Google’s self- driving cars • Google Object Recognition Engine • RoboEarth – to develop a “ World Wide Web robots” • ASORO’s Cloud Computing Infrastructure • Turtlebot from google • GostaiNet 106
- 107. Google’s self-driving cars •Google’s self-driving cars are one type of cloud-connected robot. The autonomous cars access data from google maps and images stored in the cloud to recognize their surroundings. They also gather information about road and traffic conditions and send that information back to the cloud 107
- 108. Gostai • This Frenchrobotic firm has developed a cloud based robotic infrastructure known as GostaiNet which allows robots to perform speech recognition, faces detection and other task remotely. Gostai’s robot uses the cloud for video recording and voice synthesis 108
- 109. ASORO Labs • Researchersat Singapore ASORO labs have build a cloud computing infrastructure to generate 3D model of environment which allows robots to perform simultaneous localization and mapping. This process is much faster than their computers. 109
- 110. A Cloud RobotSystem Accessing Learned Grasps from Dexterity Network 1.0 and Berkeley Robotics and Automation as a Service (Brass) • This paper describes an implemented RAaaS system architecture and reports on physical grasping experiments • The system uses Berkeley RAaaS Software (Brass) to remotely host an instance of Dex-Net 1.0, a robust Grasp planning system that samples grasps on 3D object meshes and computes stochastic robustness metrics for each grasp • The system links a local ABB Yumi human-safe robot with Brass via a cross-border, secure, and low-latency network provided by Cloudminds, Inc • We study grasp performance under this architecture by programming the Yumi to grasp and lift a set of non-standard, asymmetric chess pieces 110
- 111. 111 Results suggest thatthe RAaaS system can provide significant improvements in grasp robustness with reasonable mean network latency times of 30 ms and 200 ms for servers 500 and 6000 miles away from the robot, respectively
- 112. Research • Operating acoffee machine in less than 90 seconds, including removing the capsule, as well as performing a little dance between making cups of coffee • Cobots are used to package parts, palletize boxes, load conveyors, and more, - De Keijser • Cobots are especially well-suited to complex assembly tasks, including small or delicate components • They’re also a favorite for machine tending, loading and unloading CNC lathes and machining centers, for instance, or pulling finished parts out of plastic injection molds 112
- 113. Summary • All cobotsare Human safety Robots • Yumi can perform robust grasping Plan • UR 5 can perform many applications in the industry • Baxter is very easily programmed with lead through programming 113
- 114. Conclusion • Learned aboutCobot • Knowing how to program with Baxter • Benefits of Yumi • Applications of UR5 • Cloud Cobotics 114
- 115. Ideas • To connectcobot to cloud • We can use servers such as RAAS or ROS • For robust grasp plan system using Dex. Net • Performing and experimenting on all applications of cobot 115
- 116. Future Research • Exploringcobot response to various training techniques • Determine weather or not a certain action is safe on a human • Opportunity to automate tasks that were previously automated • Current research level at peer universities involves vision control study and human-robot interaction 116
- 117.
Editor's Notes
- #80 The safety system of robots is approved and certified by TÜV (The German Technical Inspection Association)
- #106 Computation offloading is the task of sending computation intensive application components to a remote server.
- #110 simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it