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.