ENABLING COLLABORATIVE ROBOT APPLICATIONS WITH MACHINE ... · Enabling Collaborative Robot...
Transcript of ENABLING COLLABORATIVE ROBOT APPLICATIONS WITH MACHINE ... · Enabling Collaborative Robot...
ENABLING COLLABORATIVE ROBOT APPLICATIONS WITH
MACHINE VISION TECHNOLOGY
David L. Dechow FANUC America Corporation
ENABLING COLLABORATIVE ROBOT APPLICATIONS WITH MACHINE VISION
TECHNOLOGY Topics • Overview of collaborative robot technologies • The roles for machine vision • It’s still machine vision - Unique challenges • Applications and future trends
Enabling Collaborative Robot Applications With Machine Vision Technology
COLLABORATIVE ROBOT OVERVIEW
Defining the “collaborative” robot • The COBOT landscape
Enabling Collaborative Robot Applications With Machine Vision Technology
COLLABORATIVE ROBOT OVERVIEW
Safety considerations •ANSI/RIA specifications • ISO/TS 15066 •How they might be implemented
Enabling Collaborative Robot Applications With Machine Vision Technology
COLLABORATIVE ROBOT OVERVIEW
Safety considerations
Enabling Collaborative Robot Applications With Machine Vision Technology
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations • Safety Rated Monitored Stop
• Safe I/O input from safety rated device (scanner or light screen) • Input to DCS enables speed limit of 0 mm/s or 0 deg/s • Robot program can remain in cycle, no e-stop issues • Once the operator leaves the protected area, production can resume with out any
delay for faults to clear or servo power to be re-enabled
Enabling Collaborative Robot Applications With Machine Vision Technology
ISO 10218-1 : Section 5.10.2 Safety-rated monitored stop The robot shall stop when a human is in the collaborative workspace. The stop function shall comply with 5.4 and 5.5.3. The robot may resume automatic operation when the human leaves the collaborative workspace. Alternatively, the robot may decelerate, resulting in a category 2 stop in accordance with IEC 60204-1. Once stopped, this
standstill shall be monitored by the safety-related control system in accordance with 5.4. Fault of the safety-rated monitored stop function shall result in a category 0 stop.
Note: This can include a monitored category 2 stop function in accordance with IEC 60204-1 provided by an electric power drive system that corresponds to an SOS in accordance with 61800-5-2.
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations • Hand Guiding
Enabling Collaborative Robot Applications With Machine Vision Technology
ISO 10218-1 : Section 5.10.3 Hand Guiding When provided, hand guiding equipment shall be located close to the end effector and shall be equipped with the following: a) An emergency stop complying with 5.5.2 and 5.8.4, and b) An enabling device complying with 5.8.3
The robot shall operate at a safety-rated monitored speed determined by a risk assessment. The speed monitoring function
shall comply with 5.4. If the monitored speed exceeds the determined speed limit, a protective stop shall be issued.
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations •Hand Guiding
Enabling Collaborative Robot Applications With Machine Vision Technology
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations • Speed and Separation Monitoring
• “Fenceless” operation
Enabling Collaborative Robot Applications With Machine Vision Technology
ISO 10218-1 : Section 5.10.4 Speed and separation monitoring The robot shall maintain a determined speed and separation distance from the operator. These functions may be accomplished by integral features or a combination of external inputs. Detection of the failure to maintain the determined speed or separation distance shall result in a protective stop (see 5.5.3). The speed and separation monitoring functions shall comply with 5.4.2.
The robot is simply a component in a final collaborative robot system and is not in itself sufficient for a safe collaborative operation. The collaborative operation applications are dynamic and shall be determined by a risk assessment performed during the application system design. Information for use shall contain direction for implementing speed values and separation distances. ISO 10218-2 shall be used for designing collaborative operations. Additional information will be contained in the future ISO/TS 15066.. The relative speeds of the operator and robot need to be considered when calculating the minimum safe separation distance. Minimum distance requirements can be found in ISO 13855.
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations • Speed and Separation Monitoring
Enabling Collaborative Robot Applications With Machine Vision Technology
18” + Stopping Distance
Operating Space
18” + Stopping Distance
Operating Space
Semi-Fenceless Concept using DCS Position Check and a Safety Area Scanner
Safety Zone: DCS Zero
Speed Zone
Warning Zone #2: Program
Pause
Warning Zone #1: Speed Override to 250mm/sec
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations • Speed and Separation Monitoring
Enabling Collaborative Robot Applications With Machine Vision Technology
Operating Space
Restricted Space using hard stop
18” (450mm)
Restricted Space w/
18” spacing
Fencing with 18” Spacing from Restricted Space
Zone switches could also be eliminated or reduced if the system integrator’s risk assessment validates
the safety of the system w/o the zone switch.
18” + Stopping Distance
Fencing with 18” + Stopping Distance Spacing from
Restricted Space
Operating Space
Restricted Space w/ 18” + Stopping
Distance Spacing
Restricted Space using
DCS Position Check
Fencing Requirements using DCS Position Check
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations • Power and Force Limiting
• Starting in 2012 it was possible under the RIA and ISO robot standard (RIA R15.06-2012/ISO 10218-1) to have a robot that can work alongside people without traditional guarding.
• However these robots required very special features under the ISO standard. • Specifically operation where contact could occur needed to follow a concept called
‘Power and Force Limited’ robot
Enabling Collaborative Robot Applications With Machine Vision Technology
ISO 10218-1 : Section 5.10.5 Power and force limiting by inherent design or control The robot shall limit dynamic power output, static force and speed or energy in compliance with 5.4. If any parameter limit is exceeded, a protective stop shall be issued.
The robot is only a component in a final collaborative robot system and alone is not sufficient for a safe collaborative operation. The collaborative operation application shall be determined by a risk assessment performed during the application system design. Information for use shall include details for setting established parameter limits in the controlled robot. ISO 10218-2 shall be used for designing collaborative operations. Additional information will be contained in the future ISO/TS 15066.
COLLABORATIVE ROBOT OVERVIEW
Safety Considerations • Power and Force Limiting
Enabling Collaborative Robot Applications With Machine Vision Technology
Force and power limiting can be achieved by monitoring and stopping robot based on force detected between a robot and operator
Force and power limiting = Contact Stop Stop
Push J2
Push J1
Retract
COLLABORATIVE ROBOT OVERVIEW
Applications and limitations • Best uses • Machine tending • Part installation and assembly • Palletizing/packing/depalletizing • Part delivery • Meeting speed and payload
expectations
Enabling Collaborative Robot Applications With Machine Vision Technology
THE ROLES FOR MACHINE VISION
The two sides of collaboration •Working autonomously or together
• “Safe” robots working in the vicinity of human workers • Robot and human collaboration
Enabling Collaborative Robot Applications With Machine Vision Technology
THE ROLES FOR MACHINE VISION
More-flexibile automation • Human-like performance means human-like environments
• True collaboration is elusive with respect to machine vision technology
• VGR for the collaborative robot – standard techniques and perhaps much more
Enabling Collaborative Robot Applications With Machine Vision Technology
IT’S STILL MACHINE VISION
It’s still machine vision… •Similar methods, new challenges
• Ease of use at highest demand • Complex application requirements impact machine vision
implementations • Support tools can ease robot programming • Broader recognition capabilities are at a premium • 3D is more in demand
Enabling Collaborative Robot Applications With Machine Vision Technology
IT’S STILL MACHINE VISION
Some VGR basics • 2D guidance – finding and delivering the object
Enabling Collaborative Robot Applications With Machine Vision Technology
IT’S STILL MACHINE VISION
• Some VGR basics • 3D guidance – now a requirement
Enabling Collaborative Robot Applications With Machine Vision Technology
IT’S STILL MACHINE VISION
Challenges – old and new • Lighting in the collaborative environment • The human interference factor • Handling random parts
Enabling Collaborative Robot Applications With Machine Vision Technology
APPLICATIONS AND FUTURE TRENDS
Application videos
Enabling Collaborative Robot Applications With Machine Vision Technology
APPLICATIONS AND FUTURE TRENDS
• What’s next • The market is justifiably constrained by safety demands • More machine vision capability will drive future applications
Enabling Collaborative Robot Applications With Machine Vision Technology
CONTACT INFORMATION
David L. Dechow Staff Engineer-Intelligent Robotics/Machine Vision FANUC America Corporation
+1 (248) 276-4058 [email protected]