Transcript Service Oriented Robot Operation for Industrial Robotics

New Approach for Industrial
Robot Controller User Interface
Balázs Dániel1, Péter Korondi1, Trygve Thomessen2
1 Budapest
University of Technology and Economics, Department of Mechatronics,
Optics and Engineering Informatics, Budapest, Hungary
2 PPM AS, Trondheim, Norway
May 2013, IE Tech News
New Approach for Industrial Robot Controller User Interface
Why is this topic important?
• Robots are multipurpose machines
• Robot sales increasing
– 166,028 units sold in 2011
• 59% automotive and eletronic industry
• SMEs are looking for automation
– Low level expertise
– Small volume, large product diversification
• Numerous studies on robot programming
• HRI is well-studied for service and mobile
robots
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State of the art
Product
FANUC
ABB
KUKA
Reis
Yaskawa
NACHI
Universal
Robots
Preferred input method
KB1
TS2
TS
TS
KB
KB
TS
Joystick for jogging
No
Yes
Yes
Virtual
No
No
Virtual
Touch screen
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Customizable UI
Yes*
Yes*
Yes*
N.a.
Yes*
Yes
No
Programmable UI
Yes*
Yes*
Yes*
N.a.
Yes*
No
No
Run-time UI
customization
No
No
No
No
No
No
No
Feature
* - standalone program necessary, 1 – keyboard, 2 – touch screen
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What’s the problem?
• Customizable interfaces BUT
– The developer and the user are different
– Offline user interface composition
Operator
Communication?
Integrator
Teach pendant
Robot
New Approach for Industrial Robot Controller User Interface
Robot controller
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Is it relevant in industry?
“A well-designed user interface presents
relevant information and functionality at the
right time. In this respect, customized user
interfaces are clearly very desirable to the
end-user. As tailored solutions are easier to
operate, they also optimize user’s investment
in automation.”
-ABB Robotics
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The New Approach
• Changing the robot controller UI into service based
modul instead of using additional equipment (e.g.
PLCs)
• Abstract level between robot cell functionality and
user interaction
• Multiple initializations
• Multiple phases
• Multiple products
• Different programs
• Different logics
ABSTRACTION
New Approach for Industrial Robot Controller User Interface
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Flexible Graphical User Interface
• Considerations
– We (as user interface developers) can’t predict
what the application will look like
– Efficiency requires users to be kept in the loop
– The use of the interface should based on familiar
and learned interaction
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User Interface Structure
Robot controller
Robot programs
Variables
ABSTRACTION
Services
Parameters
UI synthesis
Screen Belt
FlexScreens
Service 1
Service 1
Screen 1
Screen 2
Indicator: Tool
Indicator: State
Indicator: Temp
Control: State
Control:
Workpiece
selection
Robot
State
Proxy
Fidget Belt
Service 2
Service 3
Service 4
Control: Custom
Control: Start
New Approach for Industrial Robot Controller User Interface
FlexProject
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Experimental setup
Packing service: nuts and
bolts feeding station
Robot cell in Trondheim, Norway
User manual and remote box
NACHI MC70
Pick’n’place service:
tables with workpieces
Packing service:
delivery station
NACHI FD11 with
FlexGUI
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Case study – Pick-and-place service
Screens based on
the concept of robot
cell service
operation and user
level distinction
Robot cell and
process parameters
Visual feedback of the
current object positions
Image based part
recognition
”Just press the button”
commands
New Approach for Industrial Robot Controller User Interface
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Case study – Pick-and-place easy calibration
Speed settings to
comfort the user
Dynamic, statedependent visual
items
State-dependent
button caption
New Approach for Industrial Robot Controller User Interface
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Case study – Packaging service
Process parameters from
list of possible values
Know where you
are:
Highlighting
Know where you
are going:
Screenshots
Verbose feedback on
what is going on
New Approach for Industrial Robot Controller User Interface
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Case study – low level service
On-demand
modification in
run-time possible
Drag-and-drop
Insert and delete
Set properties
One cannot
predict what the
end user will need,
so we have to
provide a
customizable and
flexible solution
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Conclusion
• The trend is customization
• The operation of industrial robots requires less and
less expertise
• Service Oriented Robot Operation offers more
flexibility and efficiency
• Flexible User Interface Concept provides a flexible
tool for UI customization
• Appropriate UI composition should be made for
robot operations
• Testing of the new concept was conducted, results
had been published later
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References (1)
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(2012) World Robotics - Industrial Robots 2012, Executive Summary. Executive Summary WR
2012.pdf. [Online]. Available: http://www.worldrobotics.org/uploads/media/
(2011) World Robotics - Industrial Robots 2011, Execu-tive Summary. 2011 Executive Summary.pdf.
[Online]. Available: http://www.roboned.nl/sites/roboned.nl/files/
SMErobotTM website. [Online]. Available: http://www.smerobot.org
P. Neto, J. N. Pires, and A. P. Moreira, “High-level programming and control for industrial robotics:
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(2007) FANUC iPendantTM brochure. iPendant.pdf. [Online]. Available:
http://www.fanucrobotics.com/file-repository/DataSheets/Vision-Software-Controls-Options/
(2011) Yaskawa Motoman Robotics NX100 brochure. NX100%20Controller.pdf. [Online]. Available:
http://www.motoman.com/datasheets/
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References (2)
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(2009) FlexPendant - Die neue Version des Programmierhandgertes bietet noch mehr Bedienkomfort.
(in German). [Online]. Available:
http://www02.abb.com/global/deabb/deabb200.nsf!OpenDatabase&db=/global/deabb/deabb204.
nsf&v=21B2&e=ge&url=/global/seitp/seitp202.nsf/0/68FDFC9FB8BDEE4FC12575F30049036C!Op
enDocument
(2013) KUKA smartPad website. [Online]. Available: http://www.kukarobotics.com/usa/en/products/controllers/smartpad
(2013) Smart robot programming, the easy way of programming. reis pad en.pdf. [Online]. Available:
http://www.reisrobotics.de/produkte/robot-control
(2013) Baxter brochure. ProductBrochure WebDownload.pdf. [Online]. Available:
http://www.rethinkrobotics.com/files/8513/4792/6562/
G. Veiga, J. Pires, and K. Nilsson, “Experiments with service-oriented architectures for industrial
robotic cells programming,” Robotics and Computer-Integrated Manufacturing, vol. 25, no. 4 - 5, p.
746 – 755, 2009. [Online]. Available:
http://www.sciencedirect.com/science/article/pii/S0736584508000902
P. Baranyi and A. Csapo, “Cognitive infocommunications: Coginfocom,” in Computational Intelligence
and Informatics (CINTI), 2010 11th International Symposium on, Nov., pp. 141–146.
B. Daniel, P. Korondi, G. Sziebig, and T. Thomessen, “Evaluation of Flexible Graphical User Interface for
Intuitive Human Robot Interactions,” Acta Polytechnica Hungarica, 2014, vol. 11, no. 1, pp 135–151.
B. Dániel, T. Thomessen, and P. Korondi, “Simplified Human-Robot Interaction: Modeling and
Evaluation,” Modeling, Identification and Control, 2013, vol. 34, no. 4, pp 199–211.
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