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This paper presents a novel CAD-model based programming and execution system designed for skill-based human-robot-crane collaboration, addressing the challenges posed by highly variable production sets in robotic manufacturing. By employing a dynamic and parametrized execution control structure based on a modified Behavior Tree, the system facilitates event-based communication for improved agility and robustness. The effectiveness of the approach is demonstrated through a collaborative task where a human directs an overhead crane and manipulator to insert a heavy object, showcasing the system's versatility in handling varying parameters.
A dynamic programming system enables seamless human-robot collaboration in complex tasks, enhancing agility and flexibility in manufacturing environments.
Highly varying production sets increasing challenges for robotic manufacturing and indoor logistics. New capabilities for agility, flexibility, and robustness are needed. Robot skills, integrating motions, tool operations, and sensor perceptions consistently provide an execution mechanism for a versatile set of tasks with varying parameters. In this paper, easy-to-use CAD-model based programming and execution system for parametrized skills and skill monitors is showcased. The execution control structure is dynamic and parametrized, based on a modified Behavior Tree, where only event based communication is used. A human-robot-crane collaborative skill is shown as a test example, where a human instructs an overhead crane and a manipulator in inserting a heavy object supported by the crane, and guided by the manipulator, into the goal.
