Title :
Monitoring of co-operative assembly tasks: functional, safety and quality aspects
Author :
Koskinen, J. ; Heikkilä, T. ; Pulkkinen, T.
Author_Institution :
Tech. Res. Centre of Finland, Oulu, Finland
Abstract :
In this paper we present aspects that should be considered when designing a co-operative robot control for assembling and handling of heavy parts. In cooperative assembly a human operator and a collaborative robot-cobot-share the work place and carry out assembly tasks. A generic assembly model is described for collaborative assembly tasks where two heavy parts are joined together. A cobot control concept was developed with a software architecture considering functional, safety and quality aspects.
Keywords :
materials handling; robotic assembly; software architecture; co-operative assembly tasks monitoring; co-operative robot control; cobot control; collaborative robot; heavy parts assembling; heavy parts handling; human operator; software architecture; Assembly systems; Collaborative work; Employment; Ergonomics; Humans; Intelligent robots; Monitoring; Robot sensing systems; Robotic assembly; Safety;
Conference_Titel :
Assembly and Manufacturing, 2009. ISAM 2009. IEEE International Symposium on
Conference_Location :
Suwon
Print_ISBN :
978-1-4244-4627-8
Electronic_ISBN :
978-1-4244-4628-5
DOI :
10.1109/ISAM.2009.5376950
