Human and Robot Collaboration Enabling the Fabrication and Assembly of a Filament-Wound Structure
Human and Robot Collaboration Enabling the Fabrication and Assembly of a Filament-Wound Structure
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人机协作实现纤维缠绕结构的制造和组装
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发表时间：
2016
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通讯作者：
Tobias Schwinn
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作者：
Tobias Schwinn
在本文中，我们描述了一个跨学科的项目和现场展览，调查未经训练的人类和机器人是否可以合作，共同目标是使用纤维缠绕工艺建造由机器人制造的模块组成的大型结构。我们描述了制造系统和展览设置，包括自定义的末端执行器和张力控制机制，以及一个协作制造过程中，通过可穿戴设备提供的指令，使人类和机器人之间的生产和装配任务的权衡。我们描述了必要的机器人的发展，促进了现场制造过程中，包括一个通用的机器人逆运动学求解器引擎的非球形手腕机器人，和无线网络通信连接的硬件和软件。此外，我们讨论了计算策略的纤维语法生成和机器人运动规划，减轻了限制，如可达性，轴的限制，碰撞，并确保可预测的，因此在现场展览设置安全的运动。我们讨论了这个项目的更大的影响，作为一个案例研究，处理由于非标准化材料或人为错误的偏差，以及一种手段，重新考虑人类和机器人任务在生产工作流程中的基本分离。最重要的是，该项目证实了人类和机器人协作的混合域，其中机器人，人和设备之间的协调和通信可以增强机器人过程和计算控制到建筑特征过程的集成。Lauren Vasey，Long Nguyen ICD，斯图加特大学Tovi Grossman Autodesk UI Research石楠Kerrick Autodesk Applied Research Danil Nagy The Living，Autodesk Research Evan Atherton，大卫贝松，Nick Cote Autodesk Applied Research 1 Tobias Schwinn ICD，斯图加特大学大卫本杰明The Living，Autodesk Research Maurice Conti Autodesk Applied Research乔治菲茨莫里斯Autodesk UI Research Achim Menges ICD，斯图加特大学
In this paper, we describe an interdisciplinary project and live-exhibit that investigated whether untrained humans and robots could work together collaboratively towards the common goal of building a large-scale structure composed out of robotically fabricated modules using a filament winding process. We describe the fabrication system and exhibition setup, including a custom end effector and tension control mechanism, as well as a collaborative fabrication process in which instructions delivered via wearable devices enable the trade-off of production and assembly tasks between human and robot. We describe the necessary robotic developments that facilitated a live fabrication process, including a generic robot inverse kinematic solver engine for non-spherical wrist robots, and wireless network communication connecting hardware and software. In addition, we discuss computational strategies for the fiber syntax generation and robotic motion planning which mitigated constraints such as reachability, axis limitations, and collisions, and ensured predictable and therefore safe motion in a live exhibition setting. We discuss the larger implications of this project as a case study for handling deviations due to non-standardized materials or human error, as well as a means to reconsider the fundamental separation of human and robotic tasks in a production workflow. Most significantly, the project exemplifies a hybrid domain of human and robot collaboration in which coordination and communication between robots, people, and devices can enhance the integration of robotic processes and computational control into the characteristic processes of construction. Lauren Vasey, Long Nguyen ICD, University of Stuttgart Tovi Grossman Autodesk UI Research Heather Kerrick Autodesk Applied Research Danil Nagy The Living, Autodesk Research Evan Atherton, David Thomasson, Nick Cote Autodesk Applied Research 1 Tobias Schwinn ICD, University of Stuttgart David Benjamin The Living, Autodesk Research Maurice Conti Autodesk Applied Research George Fitzmaurice Autodesk UI Research Achim Menges ICD, University of Stuttgart