The industrial robot as intelligent tool carrier for human-robot interactive artwork

This paper gives an introduction to the process of an experimental project in pertaining to the planning and integrating of a human-robot interactive stone carving system. The process includes an analysis of manual stone carving by a professional sculptor, a risk assessment of the projected robotic assistant system resulting in the safety concepts, a design of a tool carrier with force sensors and the human-machine interface. A standard industrial robot was selected and enhanced with extensive periphery to build up the intelligent tool carrier. Besides scientific results regarding work space and contact force suitable for human-robot collaboration, this paper presents the sculptural aspects within the experiment project. The professional scluptor evaluated the results as beyond manual processing.