Lean Intelligent Assembly Automation (LIAA)

Transcription

1 FoF.NMP New hybrid production systems in advanced factory environments based on new human-robot interactive cooperation Lean Intelligent Assembly Automation (LIAA) A Hardware independent framework for robot programming using device services and skill-based instruction Anders Billesø Beck Flexible Industrial Robotics Teknologisk Institut Forskerparken 10F 5230 Odense Denmark Tel.: anbb@dti.dk

2 Motivation 2

3 Why use hardware independent robot skills? Enable skill reuse across different hardware To facilitate easy instruction Grounds the capabilities of the robot Decrease the system configuration time 3

4 Hardware independent robot skills Robots provide a set of capabilities Actions Inspired by Newtson 1 we divide high level actions into unit actions Primitives are unit actions Predefined primitives abstracts the physical properties of the robot Skills are a structured combination of actions Thereby we create a skill hierarchy 0..* Action Motor Primitive 0..1 Perception Primitive Primitive Skill 1 D. Newtson, Attribution and the unit of perception of ongoing behavior

5 Hardware independent robot skills Hierarchical framework 2 Abstracts the complexity of the lowest level Facilitate reusability across different hardware and different tasks 2 R. H. Andersen et al., Definition of Hardware-Independent Robot Skills for Industrial Robotic Co-workers, Danish Technological Institute, RATIS Workshop, IROS, 2013, Tokyo. 5

6 Pick and place example PickAndPlace 3 Input: Object, ObjPoseEst, PlacePos ObjPoseEst Object Picks a runtime specified object and places at a runtime specified location START PoseAccuracy ObjFound ObjPose!ObjFound PoseAccuracy!= Acceptable END LocateObj 1 ObjFound PickObj 1 PlaceObj 2 PlacePos Output: ObjPose, ObjFound, PoseAccuracy 6

7 Skill model creation PickAndPlace 3 Input: Object, ObjPoseEst, PlacePos ObjPoseEst Object Picks a runtime specified object and places at a runtime specified location START PoseAccuracy ObjFound ObjPose!ObjFound PoseAccuracy!= Acceptable END LocateObj1 ObjFound PickObj1 PlaceObj2 PlacePos Output: ObjPose, ObjFound, PoseAccuracy 7

8 Architecture Only the RVM and the low-level PP interface needs to rewritten when deploying to a new hardware platform 8

9 RVM hardware abstraction ROS is a good common base for basic hardware abstraction But users does not work with data structures, they work with devices! 9

10 DTI Agent Framework The framework extends ROS with device semantics: Database (Knowledge Base) An agent is in concept the virtual representation of a physical entity An agent can also be a non-physical functionality Mapping of connections from agents to topic are dynamically are configurable Resource requirements are resolved either through ROS or from other agents Integration into scene URDF are automatic Primitives are represented by agents which reflect the actual hardware configuration of the cell DTI Agent Manager DTI Agent DTI Agent Library Software Hardware Driver Hardware 10

11 Automatic scene configuration 11

12 Direct integration into GUI 12

13 Contact Information Presenter Anders Billesø Beck Tel: Thank you for your Attention! Questions? For more information visit us at The research leading to these results has received funding from the European Union Seventh Framework Programme (FP7/ ) under grant agreement n (LIAA, FoF-2013), n (PRACE, NMP-2011), and n (SMErobotics, ICT-2012). 13