Commenced in January 2007
Paper Count: 30172
Some Issues on Integrating Telepresence Technology into Industrial Robotic Assembly
Abstract:Since the 1940s, many promising telepresence research results have been obtained. However, telepresence technology still has not reached industrial usage. As human intelligence is necessary for successful execution of most manual assembly tasks, the ability of the human is hindered in some cases, such as the assembly of heavy parts of small/medium lots or prototypes. In such a case of manual assembly, the help of industrial robots is mandatory. The telepresence technology can be considered as a solution for performing assembly tasks, where the human intelligence and haptic sense are needed to identify and minimize the errors during an assembly process and a robot is needed to carry heavy parts. In this paper, preliminary steps to integrate the telepresence technology into industrial robot systems are introduced. The system described here combines both, the human haptic sense and the industrial robot capability to perform a manual assembly task remotely using a force feedback joystick. Mapping between the joystick-s Degrees of Freedom (DOF) and the robot-s ones are introduced. Simulation and experimental results are shown and future work is discussed.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1331589Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 918
 G. Reinhart, M. Radi, and S. Zaidan, "Industrial telepresence robot assembly system: Preliminary simulation results," in 2nd CIRP Conference on Assembly Technologies & Systems, Toronto, Canada, 21-23 September, 2008.
 D. E. Whitney, Mechanical assemblies: Their design, manufacture, and role in product development: Oxford University Press, Inc., 2004, ch 9.
 M. Callegari and A. Suardi, "Hybrid kinematic machines for cooperative assembly tasks," in International Workshop: Multiagent Robotic Systems: Trends and Industrial Applications, Padova, 7th July, 2003.
 K. S. Chin, M. M. Ratnam, and R. Mandava, "Force-guided robot in automated assembly of mobile phone," Assembly Automation, vol. 23, no.1, pp. 75-86, 2003.
 G. Reinhart and J. Werner, "Flexible automation for the assembly in motion," CIRP Annals, vol. 56, no. 1, pp. 25-28, 2007.
 R. A. Brooks, L. Aryananda, A. Edsinger, P. Fitzpatrick, C. Kemp, U.- M. O'Reilly, E. Torres-Jara, P. Varshavskaya, and J. Weber, "Sensing and manipulating built-for-human environments," International Journal of Humanoid Robotics, vol. 1, no.1, pp. 1-28, 2004.
 Z. Nichol, Y. Liu, P. Suchyta, M. Prokos, A. Goradia, and N. Xi, "Super- Media enhanced Internet-based Real-Time teleoperation.," in International Mechatronics and Automation Conference, July 2005.
 J. L. Nevins and D. E. Whitney, "Computer controlled assembly," Scientific American, vol. 238, no. 2, pp. 62-74, 1978.
 Y. Yokokohji and T. Yoshikawa, "Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment," IEEE Transactions on Robotics and Automation, vol. 10, pp. 605-620, 1994.
 D. A. Lawrence, "Stability and transparency in bilateral teleoperation," IEEE Transactions on Robotics and Automation, vol. 9, pp. 624-637, 1993.
 A. Bicchi and G. Tonietti, "Fast and "Soft-Arm" Tactics - Dealing with the Safety-Performance Tradeoff in Robot Arms Design and Control," in IEEE Robotics and Automation Magazine, Special Issue on "Safety Among Us". vol. 11, no. 2, 2004, pp. 22-33.