Robot Assisted ManufacturingChallenges and Opportunities

John T. Wen, Head, Electrical, Computer, and Systems Engineering (ECSE), RPIAbhijit Chakraborty, Staff Research & Development Engineer, UTRC

American Control Conference Workshop

7/9/19

7/11/192019 ASM Symposium2

Schedule 8:30-8:45 Introduction and Overview (John Wen, RPI)8:45-9:20 Robot Assisted Wire Harness Assembly (Harry Asada, MIT)9:20-9:55 Robotic Assistants for Composite Prepreg Sheet Layup (SK Gupta, USC)

9:55-10:15 Break

10:15-10:50 Motion and force control in industrial processes (Mike Klecka, UTRC)10:50-11:25 Vision and Force Guided Robot-Assisted Assembly of Large Structures (John Wen, RPI, Shridhar Nath, GE GRC)11:25-12:00 - Evaluation of Mobile Robot SLAM and Navigation for Long-Term Autonomy in Manufacturing Environments- Automotive Final Assembly: A New Playground for Human-Robot Collaboration (Jasprit Singh Gill, Yi Chen, FarbodAkhavan Niaki, Mark Tomaszewski, Weitian Wang, Laine Mears, Pierluigi Pisu, Yunyi Jia, Venkat Krovi, Clemson University)

12:00-1:15 Lunch Break

1:15-1:50 Trust-based Control, Decision-Making, and Motion Planning for Human-Robot Collaboration Systems (Yue Wang, Clemson University)1:50-2:25 Safety and Security in Cyber Physical Production Systems (Azfar Khalid, Nottingham Trent University)2:25-3:00 Advanced Robotics for Manufacturing (ARM) Institute Technology Roadmap (Arnie Kravitz, Chief Technology Officer, ARM Institute)

3:00-3:15 Break

3:15-4:45 Panel Discussion

7/11/192019 ASM Symposium3

Control Issues in Industrial Robot

- Robot kinematics, dynamics, control, sensing, grasping, planning … - Articulated robot, joint/link flexibility, parallel mechanism, mobile robot …- PID, model-based, passivity, adaptive, model-predictive, learning, hybrid motion/force …

- Collaborative robot, SLAM, navigation …- Distributed open source middleware: ROS, ROS 2.0 …

7/11/192019 ASM Symposium4

Robotics in Manufacturing Today

• Speed • Repeatability• Payload• Reach

• Pre-programmed repetitive motion

• Structured environment• No human interaction• Teach pendant programming

7/11/192019 ASM Symposium5

Making Manufacturing Robots SmarterModel/Simulation based Planning and Optimization è Navigation, assembly planningSensor Feedback, Adaptation and Learning è Vision/force servoing, load/robot flexibilityAssistive to Human Workers è Human-robot collaboration, trust, safety security

8:45-9:20 Robot Assisted Wire Harness Manufacturing9:20-9:55 Robotic Assistants for Composite Prepreg Sheet Layup

10:15-10:50 Motion and force control in industrial processes10:50-11:25 Vision and Force Guided Robot-Assisted Assembly of Large Structures

11:25-12:00 - Evaluation of Mobile Robot SLAM and Navigation for Long-Term Autonomy in Manufacturing Environments - Automotive Final Assembly: A New Playground for Human-Robot Collaboration 1:15-1:50 Trust-based Control, Decision-Making, and Motion Planning for Human-Robot Collaboration Systems1:50-2:25 Safety and Security in Cyber Physical Production Systems

2:25-3:00 Advanced Robotics for Manufacturing (ARM) Institute Technology Roadmap