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D1: Intuitive Instruction of Fettling Castings for the Foundry  Automatic task execution |
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Scenario: Fettling and finishing of castings where the worker intuitively instructs a robot to machine surface geometries. Operation: The worker attaches a simple measuring tool onto the robot and fixes the work piece for registering the robot‘s geometry. Work cell, tool, product and CAD data are matched automatically and the robot program is generated either from CAD or by interactive lead-through by the craftsman. Modifications can be entered intuitively using direct interaction with the robot and speech communication. |
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D2: Fast Installation and Small Batch Size Production Change  Intuitive instructions |
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Scenario: The three-day-deployable integrated robot system is made by:
Operation:
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D3: Robot Assistants as Multi-Purpose Tools  Application example: Assembly |
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Scenario: The scenario deals with using robot assistants as a versatile tool at a manual workplace. Such an assistant would allow flexible degrees of automation, from manual to fully automatic. Many applications and processes could be imagined, e.g., assembly, arc welding, machining, etc. In the sequel an assembly and a welding scenario are exemplarily described. Operation: A portable robot arm is carried to its new workplace. Minimal effort is required to set-up the robot by using plug-and-play peripheral devices and intuitive calibration methods. Thereafter, the robot is instructed to perform an assembly operation, i.e., it is not programmed in the classical (text-based) sense. Defining a more complex assembly task means to interactively define a sequence of simple or more complex operations. |
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D4: Robot Assistant for a Woodworking Facility  Application example: drilling |
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Scenario: The robot is used as an extended tool at the manual workplace of a woodworker. Main tasks are trimming, dressing, milling, gluing, and shaping of free forming surfaces. Operation: Teach motion, geometry, and processes efficiently with pointing devices, gestures, and vision assistance for small production runs (lot size 1-10). Tactile guidance to link geometry and process information together. Reuse of programs facilitated by program libraries or primitives, editing functions to revise the process and fast recalibration. Assuming lack of detailed 3-D CAD models: vision based or tactile generation of model data for complex surfaces will support on-line path generation for complex 3-D surfaces. The robot environment must operate in normal wood working conditions including dust and noise.The demonstrator with human-robot cooperation should be as fast as or faster than a worker working on small series productions. The demonstrator should adhere to safety standards and cover at least five different woodworking processes. |
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