Self-adaptive Cobots in Cyber-Physical Production Systems

• Type: Article in International Conference Proceedings Book
• Date: 2019

Authors

Roberto Nogueira (Author) Other; João Reis (Author) Other; Rui Pinto (Author) FEUP; Gil Manuel Gonçalves (Author) FEUP

Conference proceedings International

Title: 2019 24TH IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA)

Pages: 521-528

24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

Zaragoza, SPAIN, SEP 10-13, 2019

Indexing

ISI Web of Knowledge - 9 Citations

Scopus - 10 Citations

Other information

Authenticus ID: P-00R-861

DOI: 10.1109/etfa.2019.8869165

Abstract (EN): Absolute automation in certain industries, such as the automotive industry, has proven to be disadvantageous. Robots are fairly capable when performing tasks that are repetitive and demand precision. However, a hybrid solution comprised of the adaptability and resourcefulness of humans cooperating, in the same task, with the precision and efficiency of machines is the next step for automation. Manipulators, however, lack self-adaptability and true collaborative behaviour. And so, through the integration of vision systems, manipulators can perceive their environment and also understand complex interactions. In this paper, a vision-based collaborative proof-of-concept framework is proposed using the Kinect v2, a UR5 robotic manipulator and MATLAB. This framework implements 3 behavioural modes, 1) a Self-Adaptive mode for obstacle detection and avoidance, 2) a Collaborative mode for physical human-robot interaction and 3) a standby Safe mode. These modes are activated with recourse to gestures, by virtue of the body tracking and gesture recognition algorithm of the Kinect v2. Additionally, to allow self-recognition of the robot, the Region Growing segmentation is combined with the UR5's Forward Kinematics for precise, near real-time segmentation. Furthermore, self-adaptive reactive behaviour is implemented by using artificial repulsive action for the manipulator's end-effector. Reaction times were tested for all three modes, being that Collaborative and Safe mode would take up to 5 seconds to accomplish the movement, while Self-Adaptive mode could take up to 10 seconds between reactions.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8