Intelligent and Autonomous Robot Systems

Transcription

1 from research. to market Intelligent and Autonomous Robot Systems Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples Claudio Cenati Milano, February 2015

2 Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples 1. ITIA-CNR Short Introduction 2. ITIA-CNR transfer technology model 3. 3 successful cases

3 Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples 1. ITIA-CNR Short Introduction 2. ITIA-CNR transfer technology model 3. 3 successful cases

4 ITIA is part of the DIITET, Department for Engineering, ICT, Energy and Transportation Technologies of CNR 110 People 90 Researchers Production Systems Factory Automation Robotics

5 ITIA-CNR: Facts & figures

6 ITIA-CNR: RTD&I units

7 IRAS: Facts & figures 25 people 1 Senior Researcher 8 Researcher 1 Post-doc 12 Fellow Researchers (6 PhD students) 2 Technicians MS (<5) EU Projects (ongoing) H2020-FourByThree FP7 - FlexiCAST FP7 - ACTIVE FP7 - ENEPLAN FP7 - RampCo LinArm++ (ECHORD++ exp.) FP7 - EuRoC Italian Projects: Progetto FdF Pro2Evo FACTOTHUMS FIDEAS Riprendo Cluster-FI HAF Think&go Industrial Contracts: 170k /year Tot. Fund raising: 860k /year Principal Investigator L. Molinari Tosatti Labs - 1 shopfloor - 1 pilot plant for the de/re-manufacturing of mechatronic device - 1 laboratory for the development of sensors and devices - 1 laboratory for the testing of special prototypes (now a multi-robot system for neuro-surgical application is installed) - 1 Università degli Studi di Brescia - 1 Villa Beretta Hospital (Rehabilitation Robotics)

8 IRAS: Main activities sensors monitoring devices Industrial controllers 1. Coding and Software Engineering 2. Sensors and Devices 3. Planning and Control 4. Safe Human-Robot Interaction 5. Medical Robotics modeling & control of robot-based industrial processes robot systems safety human-robot interaction Principal Investigator L. Molinari Tosatti Robotics & interactive systems for rehabilitation civil & aerospace applications

9 Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples 1. ITIA-CNR Short Introduction 2. ITIA-CNR transfer technology model 3. 3 successful cases

10 ITIA-CNR technology transfer model

11 ITIA-CNR technology transfer model

12 ITIA-CNR technology transfer model Terms: Patent right selling Identification of the patent economic value Inventor protection strategies Definition of a royalties fee based policy for each item sold Definition of a royalties fee based policy for each item integrated into a commercial product

13 ITIA-CNR technology transfer model

14 ITIA-CNR technology transfer model

15 ITIA-CNR technology transfer model

16 Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples 1. CNR-ITIA Short Introduction 2. ITIA transfer technology model 3. 3 successful cases

17 CASE N1: MANUAL GUIDANCE DEVICE STEP 1 Investigation The IDEA started during SMErobot Project SMErobot was an Integrated Project within the 6th Framework Programme of the EC to create a new family of SME-suitable robots and to exploit its potentials for competitive SME manufacturing (March May 2009). Research and development in SMErobot is geared towards creating the following technical innovations: Robot capable of understanding human-like instructions (by voice, gesture, graphics) Safe and productive human-aware space-sharing robot (cooperative, no fences) Three-day-deployable integrated robot system (modular plug-andproduce components)

18 CASE N1: MANUAL GUIDANCA DEVICE USER low cost plug and play device user ad-hoc interface for the post processing show actual pose sensitivity selector manual guidance state monitor translation/rotation selector lock movement type selector Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..).. monitor start the program path debug step front / step back wireless communication ROBOT

19 CASE N1: MANUAL GUIDANCA DEVICE STEP 2 Pre-industrial prototype Research on: Investigation of MANUAL GUIDANCE using FORCE SENSOR Investigation of SENSOR-LESS cartesian/joint MANUAL GUIDANCE First concept for High Level Programming EXPERIMENTS PERFORMED USING COMAU COMAU LABS Results: Implementation on COMAU Controller C++ Implementation of SENSOR-LESS Cartesian/joint MANUAL GUIDANCE show actual pose sensitivity selector manual guidance state monitor translation/rotation selector lock movement type selector Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..).. monitor start the program path debug step front / step back

20 CASE N1: MANUAL GUIDANCA DEVICE STEP 3 Pre-industrialization Research on: Investigation of alternative methods for MANUAL GUIDANCE based on 6D OPTICAL SENSOR MOUSE Investigation of wireless connection with robot controller Results: Implementation on COMAU Controller C++ Implementation of a wired device based on 6D Optical sensor mouse with on board processing electronics First HMI Implementation on Special Teach Pendant Special Teach Pendant 6D OPTICAL MOUSE

21 CASE N1: MANUAL GUIDANCA DEVICE STEP 3 - Industrialization M G D. Embedded 6DOF optical device. Linux-Xenomai. Bluetooth communication :-) RESULT. Wireless teach pendant. User interface for EASY and INTUITIVE PROGRAMMING. Bluetooth communication channel MANUAL GUIDANCE DEVICE WIRLESS Patent No Year 2009

22 CASE N 2: ROBOT SCULPTOR A laser scanner integration in a robot cell for small batch production of sculpture artworks Laser scanner 3D for: Complex surfaces of statues extraction Model digitalization Robot for Handling the laser scanner Rapid prototyping for small batch series production SCANNER ON ROBOT CALIBRATION PROCEDURE Patent No. TO2010A Year 2010

23 CASE N 3: LASER CUTTING CONTROL Implementation of a method for controlling a laser cutting process and a laser cutting system. METHOD IMPLEMENTED Patent No. WO 2012/ A1 Year 2012

24 from research. to market Intelligent and Autonomous Robot Systems Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples Claudio Cenati Milano, February 2015