Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2022.

• Author: Schüppstuhl, Thorsten.
• TeilnehmendeR: Tracht, Kirsten.; Fleischer, Jürgen.
• Place / Publishing House: Cham : : Springer International Publishing AG,, 2023.; {copy}2023.
• Year of Publication: 2023
• Edition: 1st ed.
• Language: English
• Physical Description: 1 online resource (362 pages)

Table of Contents

Intro -- Contents -- Artificial Intelligence -- High Precision Peg-in-Hole Assembly Approach Based on Sensitive Robotics and Deep Recurrent Q-Learning -- 1 Introduction -- 2 State of the Art -- 3 Problem Formulation and Task Description -- 4 Reinforcement Learning -- 5 Search Skill Learning Approach -- 6 Implementation and Validation -- 7 Conclusion and Future Work -- Generalized Model for the Optimization of a LIFO Topology Storage Using a Metaheuristic Algorithm -- 1 Introduction -- 2 Problem Description -- 3 Previous Works -- 4 Theoretical Basis -- 4.1 Biological Model and Basic Idea -- 4.2 Structure and Function of the Genetic Algorithm -- 5 Data Structure -- 6 Convergence Behavior -- 7 Exploration vs. Exploitation -- 8 Discussion -- Machine Learning as an Enabler for Automated Assistance Systems for the Classification of Tool Wear on Milling Tools -- Abstract -- 1 Milling Tool Assessment in the Machining Industry -- 2 Classification of Tool Wear Using Methods of Machine Learning -- 3 Approach to Aligning the Classification Accuracy of a Machine Learning Algorithm With Expert Knowledge -- 3.1 Image Acquisition Device -- 3.2 Dataset and Preprocessing -- 3.3 Convolutional Neural Network Implementation -- 4 Results -- 5 Conclusion and Outlook -- References -- Resource Allocation -- Simulation-Based Potential Analysis of Line-Less Assembly Systems in the Automotive Industry -- Abstract -- 1 Introduction -- 2 State of the Art: Simulation Studies of Assembly Flexibilisation -- 3 Automated Scenario Analysis for Modelling of Takt Line and Line-Less Assembly Systems -- 4 Modelling of an Industrial Use Case -- 5 Discussion on Simulation Results -- 6 Conclusion and Outlook -- References -- Ontology-Based Task Allocation for Heterogeneous Resources in Line-Less Mobile Assembly Systems -- Abstract -- 1 Station Control in Line-Less Mobile Assembly Systems.

2 Related Work in the Context of Station Planning in LMAS -- 3 Methodology and Foundations -- 4 Capability-Based Resource Allocation Ontology CAPILANO -- 5 Task Allocation Framework -- 6 Evaluation and Results -- 7 Conclusion and Outlook -- References -- Exploratory Pilot Study for the Integration of Task-Specific Load Alternation into a Cyclic Assembly Process -- Abstract -- 1 Introduction -- 2 State of the Art -- 3 Basics of the Project -- 3.1 Project Design -- 3.2 Definition of the Reference Process and Work System design -- 4 Pilot Study -- 4.1 Methods and Procedure -- 4.2 Results and Discussion -- 5 Reconfiguration -- 6 Outlook -- References -- Augmented Reality -- Input and Tracking System for Augmented Reality-Assisted Robot Programming -- Abstract -- 1 Introduction -- 2 Related Work -- 3 Concept -- 4 Implementation -- 5 Evaluation -- 5.1 Demonstration -- 5.2 Examination of the System Accuracy -- 5.3 Discussion -- 6 Conclusion -- References -- Usability of Augmented Reality Assisted Commissioning of Industrial Robot Programs -- Abstract -- 1 Introduction -- 2 MiReP-Mixed Reality Programming -- 3 Target Dimensions of Usability -- 4 Methodology -- 5 Mock-Up and Conduction of the Experiment -- 6 Discussion -- 7 Conclusion and Outlook -- References -- Verification and Integration of Safety Systems for Industrial Robot Cells Using Laser-Based Distance Measurement and Augmented Reality -- Abstract -- 1 Introduction -- 1.1 Safety Concepts for Robot Cells -- 2 Materials and Methods -- 3 Results -- 3.1 Development of a Method to Verify Safety Components -- 3.2 Development of the Planning, Communication and Verification Software -- 3.3 Development of a Modular Measuring- and Visualization System -- 4 Summary and Conclusion -- References -- Digital Twin.

Digital Twin for Evaluating Support Characteristics for Industrial Exoskeletons for Upper Body Activities -- Abstract -- 1 Introduction -- 2 Evaluation of the Biomechanical Requirements for the Digital Twin -- 2.1 Analysis of the Workflow and the Specific Environment -- 2.2 Biomechanical Analysis -- 2.3 Digital Human Model -- 2.4 Process for the Prototypical Implementation of a Digital Twin -- 3 Application Example: Overhead Lifting Task -- 3.1 Results -- 3.2 Discussion of the Results -- 4 Conclusion and Outlook -- References -- Scenario-Driven Data Generation with Experimentable Digital Twins -- 1 Introduction -- 2 State of the Art -- 3 The Scenario Variation Methodology -- 3.1 Scenario Configuration -- 3.2 Scenario Variation -- 3.3 Scenario Evaluation -- 3.4 Scenario Redesign -- 3.5 ML Training and Validation -- 4 Application Examples -- 5 Conclusions -- Living Earth-A Methodology for Modeling the Environment of Construction Sites Via Digital Twins -- 1 Introduction -- 2 State of the Art -- 3 Methodology -- 4 Experiments -- 4.1 Surface Model -- 4.2 Slip and Soil Compaction -- 5 Discussion -- 6 Conclusion -- Modeling -- Analyzing Natural Resting Aspects of Arbitrary Components Using a Physics Engine -- Abstract -- 1 Introduction -- 2 Related Work -- 3 Drop Test Simulation Using a Physics Engine -- 3.1 Preparation of the Simulation Environment -- 3.2 Simulation Run and Cancellation Criterion -- 3.3 Export of Rotation Data -- 4 Data Evaluation and Identification of Natural Resting Positions -- 5 Experimental Evaluation -- 6 Results -- 7 Conclusion and Outlook -- References -- Two-Stage Robotic Bin Picking of Small Metallic Objects -- Abstract -- 1 Introduction -- 2 State of the Art -- 3 Two-Stage Bin Picking: System Design and Methodology -- 3.1 Requirements and System Design -- 3.2 Two-Stage Procedure for Bin Picking with Magnetic Gripper.

3.3 Grasping Process and Pose Estimation -- 4 Implementation and Evaluation -- 5 Summary and Outlook -- References -- Investigation and Compensation of Hysteresis in Robot Joints with Cycloidal Drives -- 1 Introduction -- 2 Related Work -- 3 Experimental Setup -- 4 Investigation -- 4.1 Friction -- 4.2 Hysteresis -- 5 Compensation Method -- 5.1 Modeling -- 5.2 Compensation Scheme -- 5.3 Experimental Validation -- 6 Conclusions -- Ergonomics -- LiDAR-based Real-Time Measurement and Control of Shoulder Torque-Preview on an Experimental Approach -- 1 Introduction -- 2 Related Work -- 3 Mechanical Mock-up -- 4 Model -- 5 Surrogate Model -- 6 Control -- 7 LiDAR Sensors -- 8 Results and Discussion -- 9 Summary and Outlook -- Laboratory-Based Evaluation of Exoskeletons in an Overhead Assembly Task -- Abstract -- 1 Introduction -- 2 State of the Art -- 3 Materials and Methods -- 3.1 Study Participants -- 3.2 Test Setup -- 3.3 Used Exoskeletons -- 3.4 Applied Evaluation Methods -- 3.5 Data Acquisition and Processing -- 4 Results -- 4.1 Results from Questionnaire Study -- 4.2 Results from EMG Study -- 5 Discussion -- 5.1 Limitations of Studies and Results -- 5.2 Lessons Learned from Studies -- 5.3 Implications on Future Workplaces -- 6 Conclusion and Outlook -- References -- Evaluation of the Ergonomic Potential of Adaptive Assembly Jigs for Large-Scale Products Using Human Modelling -- Abstract -- 1 Introduction -- 2 Product and jig Design -- 2.1 Assembly Object -- 2.2 Assembly Devices -- 3 Process Design -- 3.1 Determination of the Work Steps -- 3.2 Work Scheduling -- 4 Determination of Key Indicators -- 5 Conclusion and Summary -- References -- Path Planning 1 -- Towards Learning by Demonstration for Industrial Assembly Tasks -- 1 Introduction -- 2 Background -- 2.1 Dynamic Movement Primitives -- 2.2 Methods-Time Measurement.

3 The MTM-based Optimised CDMP Framework -- 4 Experimental Evaluation -- 4.1 Experimental Setup -- 4.2 Results and Discussion -- 5 Conclusion and Future Work -- Visual Programming of Robot Tasks with Product and Process Variety -- 1 Introduction and Related Work -- 2 Our Approach -- 2.1 Part Types and Locations -- 2.2 Task Models with Degrees of Freedom -- 2.3 Visual Programming -- 2.4 Plan Instantiation -- 3 Experimental Validation -- 4 Conclusion and Future Work -- DOE Laser-assisted Turntable Calibration and Workpiece Registration -- 1 Introduction -- 2 Related Work -- 3 Turntable Calibration -- 3.1 Definitions -- 3.2 Calibration Method -- 4 Workpiece Registration -- 5 Experiments -- 5.1 Accuracy of Turntable Calibration -- 5.2 Accuracy of Workpiece Registration -- 5.3 Execution Time -- 6 Conclusion -- Path Planning 2 -- Digital Geometry Recording for Automation of the One-Off Production of Pipes -- Abstract -- 1 Introduction -- 2 Approach to Automation -- 2.1 Analysis of the Manufacturing Process -- 2.2 Analysis of the Material Spectrum -- 2.3 Analysis of the Production Chain -- 2.4 Derivation to Automation -- 3 Implementation of the Developed Process Chain -- 3.1 Operating Concept on the Smartpad -- 3.2 Integration into the Process Chain -- 3.3 Evaluation -- 4 Conclusion -- References -- Detection and Handling of Dynamic Scenes During an Active Vision Process for Object Recognition Using a Boundary Representation -- 1 Introduction -- 2 State of the Art -- 3 Our Approach -- 3.1 Basic Approach for Static Scenes -- 3.2 Enhancement for Dynamic Scenes -- 3.3 Classifying Possible Changes -- 3.4 Detecting Changes -- 3.5 Handling Changes -- 4 Evaluation -- 4.1 Setup -- 4.2 Results -- 5 Conclusion -- An Integrated Approach for Hand Motion Segmentation and Robot Skills Representation -- 1 Introduction -- 2 Related Work -- 3 Motion Segmentation.

3.1 Data Collection.