Collaborative Robot Technology

and Applications

Mike Beaupre
KUKA Robotics
Collaborative Robots
Introduction
 What is Collaboration?
Definition of collaboration:

Collaboration
noun
Syllabification: col·lab·o·ra·tion
Pronunciation: [kuh-lab-uh-rey-shuhn]
• The action of working with someone to produce or
create something
• Working with others to do a task and to achieve
shared goals.
• Flexibility is an essential element of collaboration.

Source: Wikipedia
 Early Collaboration Ideas

1966 - Unimate robot demonstrated on the Tonight Show

Source: Robot Magazine

www.botmag.com
 Early Collaboration Ideas

1967 - Unimate robot on display at the Biltmore Hotel in Los Angeles

Source: Photo by Frank Q. Brown /

Los Angeles Times Archive, UCLA
Definitions & Terms
Collaborative Robot – a robot specifically designed for direct
interaction with a human within a defined collaborative workspace

Collaborative Workspace - safeguarded space where the robot and a

human can perform tasks simultaneously during automatic operation

Collaborative Operation (Human-Robot Interaction) - state in which

purpose designed robots can safety work in direct cooperation with a
human within a defined workspace

Intelligent Assist Device (IAD) is a Smart lift assist device, generally not
incorporating an autonomous operation mode

Cobot - an abbreviation of Collaborative Robot and also synonymous

with Intelligent Assist Device
Benefits of HRC
• Robots excel at simple, repetitive handling tasks.
• Humans, on the other hand, have unique cognitive skills for understanding
and adapting to any changes in the task.
• The combination of humans and robots can greatly improve performance, as
long as the work is optimally shared.
• Human-robot collaboration allows for various levels of automation and
human intervention. Tasks can be partially automated if a fully automated
solution is not economical or too complex.
• Non-ergonomic workstations can be greatly improved with the help of robots.
Safety of the human is an absolute prerequisite
 Key Robot Features
Collaborative Robots also incorporate one or
more of the following features:

• Safety-rated Stop Monitoring

• Hand Guiding – Teaching by Demonstration
• Speed and Separation Monitoring
• Power and Force Limiting
 Key Robot Functions
• Operation in Automatic Mode with a Person in the
Collaborative Workspace
- When the person acts - the robot reacts

• Incorporating Specific Safety Design Features to Protect the

Person from Injury
- The robot‘s behavior can be easily programmed through software

• Can Have Both Autonomous and Collaborative Phases in an

Automatic Work Cycle
- Flexible adaption of the robot’s characteristics to an individual task
- Tasks are solved through compliance, rather than programmed positions
 Robot Safety Features
Relevant safety features to minimize risk of a HRC application
in accordance with applicable standards (ISO 10218-1:2011)
• Safe velocity monitoring
• Safe workspaces and safeguarded zones
• Safe collision detection (free collisions possible)
• Safe force monitoring (avoidance of pinching or crushing)
• Safe tool detection
• Safe switching of states (i.e. safe protection zones)

The current standard EN ISO 10218-1:2011 states that the robot is

only one component in a robot system and that it is in itself insufficient
for safe collaborative operation.
 Forms of human-robot collaboration
No fixed guard,
virtual safety fence
 contact not desired,
unlikely
(e.g. photo-electric barrier)

Shared workspace
 contact desired,
simultaneous motion
(e.g. manual guidance)
Fixed safety fence Shared
 contact not possible workspace
Shared workspace
 contact not
Robot desired, but possible
workspace

Shared workspace, but

exclusive motion  contact
Operator possible, but only with
workspace
stationary robot
e.g. in the case of industrial
robot as handling assistant
Video – Best Fit Joining
Video – Adaptive Assembly
Other Enhancement Features

• Sensitivity – integral force & torque sensors

• Distance sensing – vision or radar sensors

• Voice interpretation – verbal command functions

Evolution of Enablers

1) Advancements in Robot and Sensor

Technologies
Standstill Monitoring
Safe Protection Zones
One method for Speed and Separation Monitoring
Intelligent Manipulators
Robot being used as an Intelligent and Safe Manipulator
 Evolution of Enablers

2) Advancements in Safe Robot

Applications
 Radiation Surgery

TREATMENT: Tumors are

treated using a robot-guided
LINAC (high energy X-ray
radiation source)
FLEXIBILITY: The robot and
patient positioner allows
extremely flexible positioning
of the LINAC around the
patient providing optimal
delivery angles.

Source: Accuray Inc. “CyberKnife”

 Particle Therapy

Proton Therapy Treatment Room – Heidelberg, Germany

Source: Siemens Medical

 Angiography
RANGE: allows full
coverage of the patients
body from head to toe.
PRECISION: 0.7mm
positioning accuracy
ensures high imaging
quality.
SPEED: C-arc can be
rotated quickly enabling
a complete volume scan
and stable image.
VERSATILE: allows for
rapid switch from
interventional to
surgical use.

Source: Siemens Medical

“Artis Zeego”
 Hippotherapy
• Neurorehabilitation directly at the hospital through hippotherapy.
• The motion equipment is manipulated, which stimulates
neuroplasticity and thus promotes neuronal rehabilitation.
• Specially suited for neurological patients, e.g. after a stroke,
craniocerebral injury, multiple sclerosis or children with cerebral
palsy.

Six degrees of freedom provided

by the robot gives simulation of
horseback riding motions.

Source: Hirob, Austria

www.intelligentmotion.at
 Entertainment Ride Systems

Source: Mall of the Emirates, Dubai

 Biological Cybernetic Research

Source: Max Planck University for

Biological Cybernetics - Tübingen, Germany
 Motion Pictures

Source: Warner Bros. Pictures/

Bot & Dolly LLC
 Evolution of Enablers

3) Collaborative Application Development

 Minimally Invasive Surgery

Source: DLR, Germany

 Physical Rehabilitation

Source: RWTH Aachen University

 TV News – Camera & Teleprompter

www.youtube.com/watch?v=JvsfjPXFfxg

Source: CineTV (Automatica 2014)

Lightweight Mobile Platforms
Collaboration through
autonomous mobile navigation
systems
Video - Mobile Navigation
 Research & Education - YouBot

• 5-DOF manipulator with two-finger gripper

• omnidirectional mobile platform
• real-time EtherCAT communication
• open interfaces
A standard platform which • freely programmable
enables researchers • open source software library
to focus on their research
Service Robotics

“Emma”
 Humanoid Robots
DLR “Jason”

Source: DLR Germany

 Wearable Robotics
Exoskeleton

Supernumerary Robotic Limbs

Source: Daewoo Shipbuilding

MIT d'Arbeloff Laboratory
 Mobile Military Applications

“LS3”

Source: Boston Dynamics

Safety References
Current Robot Safety Standards:
• ISO 10218 Part 1 & Part 2 (2011)
• ANSI/RIA R15.06 2012

Additional Reference:
• VDMA position-paper
“Safety in Human-Robot Collaboration”
(http://rua.vdma.org/en/article/-/articleview/4217015)
Conclusion

• No human-robot collaboration application

should be implemented without completing a
risk assessment.
• The overall application and system must
always be considered, not only the robot
(i.e. process, part -holding, tool or gripper, etc.)
• Risk Assessment = Safety!
Contact Information

Mike Beaupre
Director, New Market Sales

KUKA Robotics Corporation

22500 Key Drive
Clinton Township, MI 48036 USA

586-465-8847
mikebeaupre@kukarobotics.com
www.kukarobotics.com