Some Issues on Integrating Telepresence Technology into Industrial Robotic Assembly
Since the 1940s, many promising telepresence
research results have been obtained. However, telepresence
technology still has not reached industrial usage. As human
intelligence is necessary for successful execution of most manual
assembly tasks, the ability of the human is hindered in some cases,
such as the assembly of heavy parts of small/medium lots or
prototypes. In such a case of manual assembly, the help of industrial
robots is mandatory. The telepresence technology can be considered
as a solution for performing assembly tasks, where the human
intelligence and haptic sense are needed to identify and minimize the
errors during an assembly process and a robot is needed to carry
heavy parts. In this paper, preliminary steps to integrate the
telepresence technology into industrial robot systems are introduced.
The system described here combines both, the human haptic sense
and the industrial robot capability to perform a manual assembly task
remotely using a force feedback joystick. Mapping between the
joystick-s Degrees of Freedom (DOF) and the robot-s ones are
introduced. Simulation and experimental results are shown and future
work is discussed.
[1] G. Reinhart, M. Radi, and S. Zaidan, "Industrial telepresence robot
assembly system: Preliminary simulation results," in 2nd CIRP
Conference on Assembly Technologies & Systems, Toronto, Canada,
21-23 September, 2008.
[2] D. E. Whitney, Mechanical assemblies: Their design, manufacture, and
role in product development: Oxford University Press, Inc., 2004, ch 9.
[3] M. Callegari and A. Suardi, "Hybrid kinematic machines for cooperative
assembly tasks," in International Workshop: Multiagent Robotic
Systems: Trends and Industrial Applications, Padova, 7th July, 2003.
[4] K. S. Chin, M. M. Ratnam, and R. Mandava, "Force-guided robot in
automated assembly of mobile phone," Assembly Automation, vol. 23,
no.1, pp. 75-86, 2003.
[5] G. Reinhart and J. Werner, "Flexible automation for the assembly in
motion," CIRP Annals, vol. 56, no. 1, pp. 25-28, 2007.
[6] R. A. Brooks, L. Aryananda, A. Edsinger, P. Fitzpatrick, C. Kemp, U.-
M. O'Reilly, E. Torres-Jara, P. Varshavskaya, and J. Weber, "Sensing
and manipulating built-for-human environments," International Journal
of Humanoid Robotics, vol. 1, no.1, pp. 1-28, 2004.
[7] Z. Nichol, Y. Liu, P. Suchyta, M. Prokos, A. Goradia, and N. Xi, "Super-
Media enhanced Internet-based Real-Time teleoperation.," in
International Mechatronics and Automation Conference, July 2005.
[8] J. L. Nevins and D. E. Whitney, "Computer controlled assembly,"
Scientific American, vol. 238, no. 2, pp. 62-74, 1978.
[9] Y. Yokokohji and T. Yoshikawa, "Bilateral control of master-slave
manipulators for ideal kinesthetic coupling-formulation and
experiment," IEEE Transactions on Robotics and Automation, vol. 10,
pp. 605-620, 1994.
[10] D. A. Lawrence, "Stability and transparency in bilateral teleoperation,"
IEEE Transactions on Robotics and Automation, vol. 9, pp. 624-637,
1993.
[11] A. Bicchi and G. Tonietti, "Fast and "Soft-Arm" Tactics - Dealing with
the Safety-Performance Tradeoff in Robot Arms Design and Control," in
IEEE Robotics and Automation Magazine, Special Issue on "Safety
Among Us". vol. 11, no. 2, 2004, pp. 22-33.
[1] G. Reinhart, M. Radi, and S. Zaidan, "Industrial telepresence robot
assembly system: Preliminary simulation results," in 2nd CIRP
Conference on Assembly Technologies & Systems, Toronto, Canada,
21-23 September, 2008.
[2] D. E. Whitney, Mechanical assemblies: Their design, manufacture, and
role in product development: Oxford University Press, Inc., 2004, ch 9.
[3] M. Callegari and A. Suardi, "Hybrid kinematic machines for cooperative
assembly tasks," in International Workshop: Multiagent Robotic
Systems: Trends and Industrial Applications, Padova, 7th July, 2003.
[4] K. S. Chin, M. M. Ratnam, and R. Mandava, "Force-guided robot in
automated assembly of mobile phone," Assembly Automation, vol. 23,
no.1, pp. 75-86, 2003.
[5] G. Reinhart and J. Werner, "Flexible automation for the assembly in
motion," CIRP Annals, vol. 56, no. 1, pp. 25-28, 2007.
[6] R. A. Brooks, L. Aryananda, A. Edsinger, P. Fitzpatrick, C. Kemp, U.-
M. O'Reilly, E. Torres-Jara, P. Varshavskaya, and J. Weber, "Sensing
and manipulating built-for-human environments," International Journal
of Humanoid Robotics, vol. 1, no.1, pp. 1-28, 2004.
[7] Z. Nichol, Y. Liu, P. Suchyta, M. Prokos, A. Goradia, and N. Xi, "Super-
Media enhanced Internet-based Real-Time teleoperation.," in
International Mechatronics and Automation Conference, July 2005.
[8] J. L. Nevins and D. E. Whitney, "Computer controlled assembly,"
Scientific American, vol. 238, no. 2, pp. 62-74, 1978.
[9] Y. Yokokohji and T. Yoshikawa, "Bilateral control of master-slave
manipulators for ideal kinesthetic coupling-formulation and
experiment," IEEE Transactions on Robotics and Automation, vol. 10,
pp. 605-620, 1994.
[10] D. A. Lawrence, "Stability and transparency in bilateral teleoperation,"
IEEE Transactions on Robotics and Automation, vol. 9, pp. 624-637,
1993.
[11] A. Bicchi and G. Tonietti, "Fast and "Soft-Arm" Tactics - Dealing with
the Safety-Performance Tradeoff in Robot Arms Design and Control," in
IEEE Robotics and Automation Magazine, Special Issue on "Safety
Among Us". vol. 11, no. 2, 2004, pp. 22-33.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:53240", author = "Gunther Reinhart and Marwan Radi", title = "Some Issues on Integrating Telepresence Technology into Industrial Robotic Assembly", abstract = "Since the 1940s, many promising telepresence
research results have been obtained. However, telepresence
technology still has not reached industrial usage. As human
intelligence is necessary for successful execution of most manual
assembly tasks, the ability of the human is hindered in some cases,
such as the assembly of heavy parts of small/medium lots or
prototypes. In such a case of manual assembly, the help of industrial
robots is mandatory. The telepresence technology can be considered
as a solution for performing assembly tasks, where the human
intelligence and haptic sense are needed to identify and minimize the
errors during an assembly process and a robot is needed to carry
heavy parts. In this paper, preliminary steps to integrate the
telepresence technology into industrial robot systems are introduced.
The system described here combines both, the human haptic sense
and the industrial robot capability to perform a manual assembly task
remotely using a force feedback joystick. Mapping between the
joystick-s Degrees of Freedom (DOF) and the robot-s ones are
introduced. Simulation and experimental results are shown and future
work is discussed.", keywords = "Assembly, Force Feedback, Industrial Robot,
Teleassembly, Telepresence.", volume = "3", number = "1", pages = "16-6", }