rob@work: Robot Assistant in Industrial Environments

In this contribution we present a robot assistant consisting of a mobile platform and a manipulator to support manual workplaces in production environments. We propose a general definition of robot assistants. Two applications for the robot assistant rob@work are described – the assembly of hydraulic pumps and the assistance of manual gas metal arc welding (GMAW). A description of the hardware and software architecture, the man-machine-interface, the task-planner and the pathplanning of the robot assistant is given. 1 Motivation Small lot sizes, unpredictable production timelines and volumes and increasing cost pressure are raising the area of conflict between flexibility and automation. A possible solution to this problem is the application of robot assistants. Robot assistance supports manual workplaces that are the most flexible work systems, by division of labour between robot and worker. The sensory skill, the knowledge and the skilfulness of the worker are combined with the advantages of the robot (e.g. strength, endurance, speed, accuracy) to an enhanced work system. In areas like assembly or welding, where many tasks are carried out manually, robot assistants lead to an increased competitiveness. Manual Workplace adaptable decision making creativity skill Robot strength endurance speed accuracy Robot Assistant increase of efficiency quality speed ergonomics Figure 1. Motivation for robot assistants. The robot assistant rob@work stands for a vision of an easy to use intelligent helper for manual work places. Through the combination of a mobile and automatic navigating platform with a manipulator, rob@work will fetch and carry objects, support in grasping, holding and lifting objects and assists in complex production processes like welding or bonding. Figure 2. robot assistant rob@work at Hannover Trade Fair The flexible and situational task sharing between worker and robot is a vital element of the “human centered automation”. rob@work is part of the realisation of this idea. In the chapters below following topics will be discussed: • Definition of robot assistants • Robot assistance to assembly of hydraulic pumps • Robot assistance to manual arc welding 2 Definition of Robot Assistants We have analysed existing technical assisting devices to determine significant characteristics and to find a definition of robot assistants. Collaborative robots or cobots [6] invented by Edward Colgate, are mechanical devices that provide guidance through the use of servomotors, while a human operator provides motive power. Cobots are used for the assembly of car doors and for the set-up of a virtual surface used to constrain and guide the workers motion. Balancer [7] provide a power assisting for handling of heavy objects and provide virtual boundaries and prevent overtravel through the use of sensors. data processing assistance sensor based assistance actuator based assistance robot assistance