Abstract
This paper presents the design and implementation of a tool for Human-Robot collaborative tasks. Industry 4.0 proposes a new scenario where robots can safely work in direct cooperation with humans, within a defined workspace. These robots are called collaborative robots or COBOTS. In this paper, we propose a tool that can be used by a robot and/or an operator for pick and place tasks. The tool was designed to meet certain criteria for the robot, so that it can identify it, hold it, and perform the task. Additionally, it was designed to comply with ergonomic parameters for the human operator. A prototype of the tool was printed with a FusedForm 3D printer. This prototype was used for a test where a robot and an operator will use the tool for picking plastic bottles from a worktable. An UR3 robot was used in the test. It was equipped with a camera in charge of identifying and estimating the position of the tool using ArUco codes placed on the tool. Results show the functionality of the tool for both the robot and the human operator. Additionally, ergonomic tests provided insights to improve the handling system of the tool for the human operator.
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Acknowledgements
This work has been supported by the Pontificia Universidad Javeriana Bogota. Project 7697, PIR Perception for Industrial Robots. The authors would like to thank the CTAI for the support with the equipments.
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Hernandez, W., Hilarion, A., Martinez, C. (2020). A Collaborative Vacuum Tool for Humans and Robots. In: Martínez, A., Moreno, H., Carrera, I., Campos, A., Baca, J. (eds) Advances in Automation and Robotics Research. LACAR 2019. Lecture Notes in Networks and Systems, vol 112. Springer, Cham. https://doi.org/10.1007/978-3-030-40309-6_13
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DOI: https://doi.org/10.1007/978-3-030-40309-6_13
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