Industrial Technologies 2016Expert cooperative robots

for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Expert cooperative robots for highly

skilled operations for the factory of

the future

Presenter: Dr. Sotiris MAKRIS

Laboratory for Manufacturing Systems & Automation (LMS)

Dept. of Mechanical Engineering & Aeronautics

University of Patras, Greece

www.lms.mech.upatras.gr

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Flexible manufacturing1925

Mass Production = Fordism

2000+

Mass Customisation1945

JIT

TPS

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Framework for modeling Human Robot Cooperation

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Generalized model of humans and robots as resources

Modelling as unique resources

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Model of the HR workload in the hybrid production cell

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Suitability of Resources

per task

Task planning generation

Decision making approach

Resources & Workload

model

Human capabilities

Robot capabilities

Alternatives generation

Human & Robot

Resources

Sequence of tasks

Root 1

Alternatives evaluation

Multiple criteria

Normalization &

weighting

Online re-planning

1 2 3

456

Resources

Unexpected cases

Human- Robot

availability

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Collaborative workplace design and planning

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Human-Robot task planning & tasks coordination

The human participation has been reduced from 53% to

7%, while the dual arm robot participation has been

increased from 47% to 93%.

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Human Robot Interaction Mechanisms

Voice commandsGesture based interaction

Augmented Reality & Smart watches

Body

gestures

Hand

gestures

Manual guidance

1 2

3 4

Resources

Manual

guidance device

Natural way of

interaction

Commands

vocabulary

Integrated force

sensors

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Gesture based interaction

1

Interaction modalities

Voice commands

2

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Enhanced cooperation for assembly

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Enhanced cooperation for assembly

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Challenges in technology upscaling

Technology perspective

In this perspective, additional use cases will help to demonstrate the maturity of the

technology to enable flexible production

IoT, CPS technology to be further validated/demonstrated

Education

Teaching/Learning factory approach

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

LMS related references (1)

Chryssolouris G. Manufacturing Systems: Theory and Practice. 2nd ed. New York:

Springer-Verlag; 2006.

P. Tsarouchi, S. Makris, G. Michalos, M. Stefos, K. Fourtakas, K. Kaltsoukalas, D.

Kontrovrakis, and G. Chryssolouris, “Robotized Assembly Process Using Dual Arm

Robot,” Procedia CIRP, vol. 23, pp. 47–52, 2014.

Tsarouchi, Panagiota, Sotiris Makris, George Michalos, Alexandros-Stereos Matthaiakis,

Xenofon Chatzigeorgiou, Athanasios Athanasatos, Michael Stefos, Panagiotis Aivaliotis,

and George Chryssolouris. 2015. “ROS Based Coordination of Human Robot

Cooperative Assembly Tasks-An Industrial Case Study.” Procedia CIRP 37: 254–59.

doi:10.1016/j.procir.2015.08.045.

Michalos, George, Sotiris Makris, Panagiota Tsarouchi, Toni Guasch, Dimitris

Kontovrakis, and George Chryssolouris. 2015. “Design Considerations for Safe

Human-Robot Collaborative Workplaces.” Procedia CIRP 37. Elsevier B.V.: 248–53.

doi:10.1016/j.procir.2015.08.014.

P. Tsarouchi, S.Makris, G. Chryssolouris, On a human and dual-arm robot task

planning method, To be presented in 49th CIRP Conference on Manufacturing Systems

(CIRP-CMS 2016).

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

LMS related references (2)

S. Makris, P. Tsarouchi, D. Surdilovic, and J. Krüger, “Intuitive dual arm robot

programming for assembly operations,” CIRP Ann. - Manuf. Technol., vol. 63, no. 1,

pp. 13–16, 2014.

K. Kaltsoukalas, S. Makris, and G. Chryssolouris, “On generating the motion of

industrial robot manipulators,” Robot. Comput. Integr. Manuf., vol. 32, pp. 65–71, Apr.

2015.

Papacharalampopoulos, S. Makris, A. Bitzios, and G. Chryssolouris, “Prediction of

cabling shape during robotic manipulation,” Int. J. Adv. Manuf. Technol., vol. 32, pp.

1–8, Jun. 2015.

Tsarouchi, Panagiota, Sotiris Makris, and George Chryssolouris. 2016. “Human – Robot

Interaction Review and Challenges on Task Planning and Programming.”

International Journal of Computer Integrated Manufacturing, February, 1–16.

doi:10.1080/0951192X.2015.1130251.

George Michalos, Panagiotis Karagiannis, Sotiris Makris, Önder Tokçalar, George

Chryssolouris, "Augmented Reality (AR) Applications for Supporting Human-Robot

Interactive Cooperation", (CMS 2015) 48th CIRP Conference on Manufacturing

Systems, 24-26 June, Ischia, Italy (2015)

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

LMS related references (3) Tsarouchi, Panagiota, Jason Spiliotopoulos, George Michalos, Spyros Koukas, Athanasios

Athanasatos, Sotiris Makris, and George Chryssolouris. 2016. “A Decision Making

Framework for Human Robot Collaborative Workplace Generation.” Procedia CIRP

44: 228–32. doi:10.1016/j.procir.2016.02.103.

G. Michalos, S. Makris, J. Spiliotopoulos, I. Misios, P. Tsarouchi, G. Chryssolouris,

"ROBO-PARTNER: Seamless Human-Robot Cooperation for Intelligent, Flexible

and Safe Operations in the Assembly Factories of the Future", (CATS 2014) 5th CIPR

Conference on Assembly Technologies and Systems, 13-14 November, Dresden,

Germany, pp. 71-76 (2014)

P.Tsarouchi, S.Matthaiakis, S. Makris and G. Chryssolouris, "On a Human Robot

Collaboration in an assembly cell", International Journal of Computer Integrated

Manufacturing (Under Publication), 2016.

George Michalos, Niki Kousi, Sotiris Makris, George Chryssolouris, "Performance

assessment of production systems with mobile robots", (CMS 2015) 48th CIRP

Conference on Manufacturing Systems, 24-26 June, Ischia, Italy (2015)

S. Makris, P. Karagiannis, S. Koukas, S. Matthaiakis, “Augmented Reality system for

operator support in human-robot collaborative assembly”, CIRP Annals –

Manufacturing Technology, Vol. 66, Issue 1, (2016) ..-…, DOI 10.1016/j.cirp.2016.04.038

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Acknowledgments

www.robo-partner.eu

www.xact-project.eu/

Industrial Technologies 2016Expert cooperative robots

for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

THANK YOU!

Presenter: Dr. Sotiris MAKRIS

makris@lms.mech.upatras.gr

http://lms.mech.upatras.gr

Laboratory for Manufacturing Systems & Automation (LMS)

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam

Laboratory for Manufacturing Systems and AutomationDepartment of Mechanical Engineering and Aeronautics, University of Patras, Greece

Industrial Technologies 2016Expert cooperative robots for highly skilled operations

for the factory of the future22-24 June 2016, Amsterdam