The experiment objective consists on the improvement of the usability, robustness and introduction of new safety features of the MGD device already at disposal of the consortium at the project start. The Manual Guidance Device (MGD) is a smart low-cost device allowing the lead-throughprogramming of COMAU robots. The MGD integrate a standard 3D off-the-shelf mouse and it can be mount in different attaching points of the robot link-chain enabling the user to move the manipulator on his workspace without any strain and without any skills on robotics. The MGD guarantees: ? Lower the time needed to train robot operators ? Simplify robot programming ? Speed-up robot programming (in particular for brand new operators) ? Implement effective flexibility (plug & produce capability) ? Increase the interaction between robots and humans through intuitiveness In EASYPRO, a new prototype of MGD has been developed in order to cope with the experiment requirements. Main functional difference from the previous release consists on a new safety-module based on the integration of an inertia-measurement-unit in the device. The measure of the IMU enables: 1. Safety-check that the MGD is placed according with the configuration selected by the user (briefly, the user has to select where the MGD is fixed on the robot links, the MGD measure its orientation and verify the coherency with the configured one); 2. Safety-check of forbidden and dangerous movement (high speed, high accelerations etc.) The work progress achieved during the experiment can be listed as: - Mechanical re-designed of the MGD in order to match more ergonomic characteristics effecting on a comfortable use from the worker. Several tests have been performed to ensure the requirements fulfilment. New electronic boards have been integrated and new plug-in introduced. - New release of the MGD software has been delivered. - Integration of a IMU sensor. The MGD has been re-designed under the outcomes of an initial stress test campaign of the old version, and on the basis of new requirements of the EASYPRO experiments.
Echord-EasyPro -FINAL REPORT
Nicola Pedrocchi;Lorenzo Molinari Tosatti
2013
Abstract
The experiment objective consists on the improvement of the usability, robustness and introduction of new safety features of the MGD device already at disposal of the consortium at the project start. The Manual Guidance Device (MGD) is a smart low-cost device allowing the lead-throughprogramming of COMAU robots. The MGD integrate a standard 3D off-the-shelf mouse and it can be mount in different attaching points of the robot link-chain enabling the user to move the manipulator on his workspace without any strain and without any skills on robotics. The MGD guarantees: ? Lower the time needed to train robot operators ? Simplify robot programming ? Speed-up robot programming (in particular for brand new operators) ? Implement effective flexibility (plug & produce capability) ? Increase the interaction between robots and humans through intuitiveness In EASYPRO, a new prototype of MGD has been developed in order to cope with the experiment requirements. Main functional difference from the previous release consists on a new safety-module based on the integration of an inertia-measurement-unit in the device. The measure of the IMU enables: 1. Safety-check that the MGD is placed according with the configuration selected by the user (briefly, the user has to select where the MGD is fixed on the robot links, the MGD measure its orientation and verify the coherency with the configured one); 2. Safety-check of forbidden and dangerous movement (high speed, high accelerations etc.) The work progress achieved during the experiment can be listed as: - Mechanical re-designed of the MGD in order to match more ergonomic characteristics effecting on a comfortable use from the worker. Several tests have been performed to ensure the requirements fulfilment. New electronic boards have been integrated and new plug-in introduced. - New release of the MGD software has been delivered. - Integration of a IMU sensor. The MGD has been re-designed under the outcomes of an initial stress test campaign of the old version, and on the basis of new requirements of the EASYPRO experiments.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
