Industrial robot based production and assembly automation increases the throughput of a company but on the other hand enhances the need for robot intelligence in terms of decision making in collisions scenarios. A robot manipulator, working at the industrial facility, should be able to predict potential collisions and automatically prevent them with a safe detour around the obstacle/human. Indu...

In this study, we propose an intelligent automated disassembly cell for online (real time) selective disassembly. The cell is composed of an industrial robotic manipulator, a camera, range sensing and component segmentation visual algorithms. The cell prototype allows for robotic sensory-driven disassembly under uncertainty. An online genetic algorithm model for selective disassembly is also pr...

In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual operational circumstances such as free of inertia, friction and gravity through independent compensation of inertia, friction and gravity. The forcefree control with independent compensation was verified with an experimental study of an actual industrial ...

Deploying robots for human-robot interaction (HRI) in industrial settings requires specific considerations for guaranteeing the safety of collaborating humans. In this work, we present a real-time safety system capable of allowing safe HRI with a standard industrial robot at very low distances of separation without the need for robot hardware modification or replacement. In the industrial setti...

In this paper, an intuitive interface for collaborative tasks involving a human and a standard industrial robot is presented. The target for this interface is a worker who is experienced in manufacturing processes but has no experience in conventional industrial robot programming. Physical Human-Robot Interaction (pHRI) and interactive GUI control using hand gestures offered by this interface a...

This paper considers the problem of wear estimation in a standard industrial robot joint. Motivated by the observation that the wear processes in a robot actuator cause an increase of the friction levels in the joint, static friction observations are used to infer the wear levels. An existing static friction model is extended to include the e ects of wear, which are analyzed and modeled. The re...