useful robot dexterity for the factory
DESCRIPTION
Presentation given at the NIST Workshop on Dexterous Manipulation, Automate Show 2013.TRANSCRIPT
Jean-Philippe JobinCTO, Robotiqrobotiq.com
2011-04-02
NIST DEXTEROUS MANIPULATION WORKSHOPAutomate Show, January, 24th 2013
USEFUL ROBOT DEXTERITY
for the FACTORY
2
MANUFACTURERS NEED ROBOT DEXTERITY
3
4
What our customers need
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What our customers need
Low Mix High MixLots of :
ChangeoversNew Product Introduction
Production Cost
(given volume, over given period of
time)
Robot production(Robots only)
Manual production
Robot production (including tooling +changeovers)
Robot production (including tooling +changeovers)
6
What our customers need
Low Mix High MixLots of :
ChangeoversNew Product Introduction
Production Cost
(given volume, over given period of
time)
Robot production(Robots only)
Manual production
Robot production (including tooling +changeovers)
Robot production (including tooling +changeovers)
7
What our customers need
Stay ManualROI < 0
Stay ManualROI < 0
Not sureROI > 0Not sureROI > 0
AutomateROI >> 0AutomateROI >> 0
Low Mix High MixLots of :
ChangeoversNew Product Introduction
Production Cost
(given volume, over given period of
time)
Manual production
ROBOT HANDS TODAY
8
• Traditional approach– Robots and grippers with limited or
no sensors (vision, touch)– Mechanical repeatability– Adapt the environment / process
• System broken in pieces (arm, hand, vision)
• Gripper choice left aside while planning project
9
Current System Approach
( )
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Hand functions
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What is the best hand?
FlexibilityNumber of tasks it can do
PerformanceHow well it can do a task on a curent robot
Bad
Average
Good
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What is the best hand?
FlexibilityNumber of tasks it can do
PerformanceHow well it can do a task on a curent robot
Bad
Average
Good
New Industrial
Robots
New Industrial
Robots
Traditional Robots
Traditional Robots
MAKING GOOD ROBOT HANDS
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Making good hands
Image: http://www.darklingwood.com/2008/05/dac-and-the-vls.html
1. Robust, cost-effective industrial sensors2. Force / tactile control
– Algorithms– Integration
Benefits:– World of applications– Relax mechanical constraints
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Challenge: Sensing
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Challenge: Robustness
• Gripper ROI calculation– Purchase– Integration– Operation
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Challenge: Cost
BENCHMARKING ROBOT DEXTERITY
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Southampton Hand Assessment Procedure (SHAP)•Measure performance of upper limb prostheses•Also applied to musculoskeletal and unimpaired participants•26 tasks
– 8 abstract objects– 14 activities of daily living
•Measured success and speed used to calculate performance
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Benchmarking Dexterity
http://www.shap.ecs.soton.ac.uk/
• SHAP equivalent for manufacturing tasks?– X abstract objects– Y activities of daily manufacturing– Human vs Robots
• Programming or teaching time• Scale
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Benchmarking Dexterity
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Picture: Hélène McNicoll http://en.wikipedia.org/wiki/File:Canyon_Sainte-Anne,_le_canyon.jpeg
OFFEROFFER DEMANDDEMAND
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