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

Bibliographic Details
Main Author: Schüppstuhl, Thorsten.
Other Authors: Tracht, Kirsten., Fleischer, Jürgen.
Format: eBook
Language:English
Published: Cham : Springer International Publishing AG, 2023.
Edition:1st ed.
Subjects:
Electronic books.
Online Access:Click to View
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.

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