High-velocity walk-through programming for industrial applications

Traditionally, industrial robots are programmed by highly specialized workers that either directly write code in platform-specific languages, or use dedicated hardware (teach-pendant) to move the robot through the desired via-points. Unsurprisingly, the inherently complex and time-consuming nature of this task is one of the factors that are still preventing industrial manipulators from being massively adopted by companies that require a high degree of flexibility in order to cope with limited production volumes and rapidly changing product requirements. In this context, the introduction of sensor-based walk-through programming approaches represents the ideal solution as far as the need to reduce programming complexity and time is concerned. Nevertheless, the main shortcomings of these solutions typically consist in limited reachable velocities during the programming phase due to safety constraints and in relying on open robot controllers. To this regard, this paper proposes a control architecture for walk-through programming of industrial manipulators specifically designed in order to (i) reach high velocities while guaranteeing the operator’s safety; (ii) allow straightforward integration with a generic closed robotic controller. The proposed solution is extensively validated on an industrial manipulator.     

Human–robot interaction in industrial collaborative robotics: a literature review of the decade 2008–2017

ABSTRACT

Currently, a large number of industrial robots have been deployed to replace or assist humans to perform various repetitive and dangerous manufacturing tasks. However, based on current technological capabilities, such robotics field is rapidly evolving so that humans are not only sharing the same workspace with robots, but also are using robots as useful assistants. Consequently, due to this new type of emerging robotic systems, industrial collaborative robots or cobots, human and robot co-workers have been able to work side-by-side as collaborators to accomplish tasks in industrial environments. Therefore, new human–robot interaction systems have been developed for such systems to be able to utilize the capabilities of both humans and robots. Accordingly, this article presents a literature review of major recent works on human–robot interactions in industrial collaborative robots, conducted during the last decade (between 2008 and 2017). Additionally, the article proposes a tentative classification of the content of these works into several categories and sub-categories. Finally, this paper addresses some challenges of industrial collaborative robotics and explores future research issues.     

The ECHORD project proposals analysis – Research profiles,collaboration patterns and research topic trends

This paper investigates the research profiles, collaboration patterns and research topic trends which can be identified in the proposals submitted to the ECHORD (European Clearing House for Open Robotics Development) FP7 project. On a country level, clusters were identified and characterized by patterns of proposal production per inhabitant, score and international cooperation. Belgium and Sweden constitute a cluster characterized by high proposal production, with very high scores and extensive international collaboration. Belgium also excels from another cluster analysis, being as the only country where 100% of proposals involve industry–academia cooperation and obtain scores above 10. Other findings show that single partner proposals have significantly lower quality than multi-partner proposals but, on the other hand, the number of countries involved shows no influence on the quality of the proposals. Despite the high number of industrial participants present on the proposals, it is observed that they play secondary roles in the proposals, with a very low number projects leaded by companies. Also, it is observed that partnerships between research institutions (non-universities) are the most successful. Concerning topics of the proposals, the technology human–robot interface and the product vision robot for small-scale manufacturing are the most significant. Finally, the paper shows clusters of institutions extracted from the giant network of relations obtained from the ECHORD set of proposals.     

一种重载汽车轮毂总成自动点焊机器人的研制

针对手工焊接汽车轮毂总成效率低下、焊接质量不稳定等问题及一种重载汽车轮毂总成的结构特点及焊接要求，设计了一种直角坐标型自动点焊机器人。阐述了自动点焊机器人本体的方案设计、控制系统应用等过程，并利用现场试验与工业性试验对自动点焊机器人的性能等进行了验证，为重载汽车轮毂总成的自动焊接提供了一种可供借鉴的方法。      

Living Materials Herald a New Era in Soft Robotics

Living beings have an unsurpassed range of ways to manipulate objects and interact with them. They can make autonomous decisions and can heal themselves. So far, a conventional robot cannot mimic this complexity even remotely. Classical robots are often used to help with lifting and gripping and thus to alleviate the effects of menial tasks. Sensors can render robots responsive, and artificial intelligence aims at enabling autonomous responses. Inanimate soft robots are a step in this direction, but it will only be in combination with living systems that full complexity will be achievable. The field of biohybrid soft robotics provides entirely new concepts to address current challenges, for example the ability to self‐heal, enable a soft touch, or to show situational versatility. Therefore, “living materials” are at the heart of this review. Similarly to biological taxonomy, there is a recent effort for taxonomy of biohybrid soft robotics. Here, an expansion is proposed to take into account not only function and origin of biohybrid soft robotic components, but also the materials. This materials taxonomy key demonstrates visually that materials science will drive the development of the field of soft biohybrid robotics.     

Robotics‐based telepresence using multi‐modal interaction for individuals with visual impairments

Although many assistive devices have been developed and utilized to aid in daily living, the most general assistive means for individuals with visual impairments are the walking cane and guide dogs. These assistive means are effective in assisting the user in navigating within an environment; however, the navigation space is limited to the proximal environment of the user. Thus, in this paper, we discuss a method to increase the range of accessibility to a remote environment through robotic embodiment that enables teleoperation and teleperception through multi‐modal feedback. In order to transform remote spatial information into a non‐visual modality, we present a framework for utilizing an RGB‐D‐based depth camera, a mobile robot, and a haptic interface for 3D haptic rendering to accomplish the goal of haptic exploration of a remote environment. Experiments with three different control methods for robot interaction are designed for users with and without visual impairments. Several hypothesis are built to study the correlation between control/feedback modality and performance in telerobotic operations. Results show that users performed best when combining semi‐autonomous navigation with 3D haptic exploration and also rated their experience with our system as fairly good. Copyright © 2014 John Wiley & Sons, Ltd.     

Developments in 4D-printing: a review on current smart materials,technologies, and applications

ABSTRACT

Recent advances in additive manufacturing (AM), commonly known as three-dimensional (3D)-printing, have allowed researchers to create complex shapes previously impossible using traditional fabrication methods. A research branch that originated from 3D-printing called four-dimensional (4D)-printing involves printing with smart materials that can respond to external stimuli. 4D-printing permits the creation of on-demand dynamically controllable shapes by integrating the dimension of time. Recent achievements in synthetic smart materials, novel printers, deformation mechanism, and mathematical modeling have greatly expanded the feasibility of 4D-printing. In this paper, progress in the 4D-printing field is reviewed with a focus on its practical applications. We discuss smart materials developed using 4D-printing with explanations of their morphing mechanisms. Additionally, case studies are presented on self-constructing structures, medical devices, and soft robotics. We conclude with challenges and future opportunities in the field of 4D-printing.