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from research .… to market
Intelligent and Autonomous Robot Systems
Development of a wireless manual guidance
device for intuitive programming of
industrial robot and additional examples
Claudio Cenati
Milano, February 2015
Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples
1. ITIA-CNR Short Introduction
2. ITIA-CNR transfer technology model
3. 3 successful cases
Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples
1. ITIA-CNR Short Introduction
2. ITIA-CNR transfer technology model
3. 3 successful cases
ITIA is part of
the DIITET,
Department
for
Engineering,
ICT, Energy
and
Transportation
Technologies
of CNR
110
People
90
Researchers
Production
Systems
Factory
Automation
Robotics
Principal Investigator L. Molinari Tosatti
IRAS: Facts & figures
25 people
1 Senior Researcher
8 Researcher
1 Post-doc
12 Fellow Researchers
(6 PhD students)
2 Technicians
MS (<5)
Labs
- 1 shopfloor
- 1 pilot plant for the de/re-manufacturing of mechatronic device
- 1 laboratory for the development of sensors and devices
- 1 laboratory for the testing of special prototypes (now a multi-robot
system for neuro-surgical application is installed)
- 1 laboratory @ Università degli Studi di Brescia
- 1 laboratory @ Villa Beretta Hospital (Rehabilitation Robotics)
EU Projects (ongoing)
H2020-FourByThree
FP7 - FlexiCAST
FP7 - ACTIVE
FP7 - ENEPLAN
FP7 - RampCo
LinArm++
(ECHORD++ exp.)
FP7 - EuRoC
Industrial Contracts: 170k€/year
Tot. Fund raising: 860k€/year
Italian Projects:
Progetto FdF
Pro2Evo
FACTOTHUMS
FIDEAS
Riprendo
Cluster-FI
HAF
Think&go
Principal Investigator
IRAS: Main activities
sensors
monitoring devices
Industrial controllers
modeling & control of
robot-based industrial processes
robot systems
safety
human-robot interaction
Robotics & interactive systems for
rehabilitation
civil
&
aerospace
applications
1. Coding and Software Engineering
2. Sensors and Devices
3. Planning and Control
4. Safe Human-Robot Interaction
5. Medical Robotics
L. Molinari Tosatti
Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples
1. ITIA-CNR Short Introduction
2. ITIA-CNR transfer technology model
3. 3 successful cases
Terms: • Patent right selling • Identification of the patent economic value • Inventor protection strategies • Definition of a royalties fee based policy for each item sold • Definition of a royalties fee based policy for each item integrated
into a commercial product
ITIA-CNR technology transfer model
Development of a wireless manual guidance device for intuitive programming of industrial robot and additional examples
1. CNR-ITIA Short Introduction
2. ITIA transfer technology model
3. 3 successful cases
CASE N1: MANUAL GUIDANCE DEVICE
The IDEA started during SMErobot™ Project
SMErobot™ was an Integrated Project within the 6th Framework
Programme of the EC to create a new family of SME-suitable robots and
to exploit its potentials for competitive SME manufacturing (March 2005 -
May 2009).
Research and development in SMErobot™ is geared towards creating
the following technical innovations:
• Robot capable of understanding human-like instructions (by voice,
gesture, graphics)
• Safe and productive human-aware space-sharing robot (cooperative,
no fences)
• Three-day-deployable integrated robot system (modular plug-and-
produce components)
STEP 1 – Investigation
CASE N1: MANUAL GUIDANCA DEVICE
low cost plug and play device
wireless communication
sensitivity selector
show actual pose
manual guidance
state monitor
translation/rotation
selector lock
movement type
selector
start the program
Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..) …..
path debug
step front / step back
monitor
user ad-hoc interface for the post processing
USER
ROBOT
CASE N1: MANUAL GUIDANCA DEVICE
STEP 2 – Pre-industrial prototype
Research on:
• Investigation of MANUAL GUIDANCE
using FORCE SENSOR
• Investigation of SENSOR-LESS cartesian/joint
MANUAL GUIDANCE
• First concept for High Level Programming
Results:
• Implementation on COMAU Controller C++
• Implementation of SENSOR-LESS Cartesian/joint
MANUAL GUIDANCE
EXPERIMENTS PERFORMED USING COMAU ROBOT @ COMAU LABS
sensitivity selector
show actual pose
manual guidance
state monitor
translation/rotation
selector lock
movement type
selector
start the program
Move joint (..,..,..,..,..,..) Move joint (..,..,..,..,..,..) MoveLinear (..,..,..,..,..,..) …..
path debug
step front / step back
monitor
CASE N1: MANUAL GUIDANCA DEVICE
STEP 3 – Pre-industrialization
Research on:
• Investigation of alternative methods for MANUAL GUIDANCE
based on 6D OPTICAL SENSOR MOUSE
• Investigation of wireless connection with robot controller
Results:
• Implementation on COMAU Controller C++
• Implementation of a wired device based on 6D Optical
sensor mouse with on board processing electronics
• First HMI Implementation on Special Teach Pendant
Special Teach Pendant
6D OPTICAL MOUSE
CASE N1: MANUAL GUIDANCA DEVICE
M G D :-)
. Wireless teach pendant
. User interface for EASY
and INTUITIVE
PROGRAMMING
. Bluetooth communication
channel
. Embedded 6DOF optical
device
. Linux-Xenomai
. Bluetooth communication RESULT
MANUAL GUIDANCE DEVICE WIRLESS Patent No. 08425778.1 2206
Year 2009
STEP 3 - Industrialization
CASE N 2: ROBOT SCULPTOR
A laser scanner integration in a robot cell for small batch production of
sculpture artworks
Laser scanner 3D for:
• Complex surfaces of statues extraction
• Model digitalization
Robot for
• Handling the laser scanner
• Rapid prototyping for small
batch series production
SCANNER ON ROBOT CALIBRATION PROCEDURE Patent No. TO2010A000638
Year 2010
CASE N 3: LASER CUTTING CONTROL
Implementation of a method for controlling a laser cutting process and a laser cutting system.
METHOD IMPLEMENTED Patent No. WO 2012/143899 A1
Year 2012