Name of demonstration

DynCoMM: Dynamic Collaborative control of Mobile Manipulators for complex picking

Main objective

The general objective of the project is to develop a novel computer vision guided collaborative control solution for mobile manipulators. The proposed technological modules are shown. The integration and synchronization of control and computer vision modules will be done in an external real-time controller that will manage and control the multiple agents and systems involved in the operation (i.e. mobile platforms, collaborative manipulators, perception devices and/or robotic tools).

The general objective of the project is to develop a novel computer vision guided collaborative control solution for mobile manipulators. This concept is represented in Figure 1, where the proposed technological modules are shown.

The integration and synchronization of control and computer vision modules will be done in an external real-time controller that will manage and control the multiple agents and systems involved in the operation (i.e. mobile platforms, collaborative manipulators, perception devices and/or robotic tools).

Short description

DynCoMM is an advanced robotic solution for external control of mobile platforms to perform dynamic operations in collaborative scenarios. The objective is to control and synchronize both application operation and platform dynamics simultaneously, increasing the productivity and flexibility of potential applications. Thus, three prominent aspects must be considered: the environment and process analysis, the collaborative integral control of the mobile manipulator, and the application integration. DynCoMM solution includes the integration of computer vision algorithms for both the application and the environment reconstruction.

The developed RealTime (RT) external control system will use the obtained information to perform complex picking applications in industrial collaborative scenarios. More specifically, the demonstrator will be focused on complex manufacturing processes where manual operations are still needed, facing technology challenges in the field of robotics and vision-based Human-Robot Collaboration (HRC). The project presents a novel solution for mobile manipulators, embedding the robot manipulator into a mobile platform to combine their benefits. The combination of both actuators increases productivity, as the mechanism will be synchronized to operate in RT with the manufacturing line workers, creating a human-machine collaborative environment. This high level of coordination between the mobile manipulator and the human employer is obtained by integrating a novel artificial vision framework designed to recognize in RT the environment and make decisions about the mobile platform position to maintain human safety without halting the production.

This demonstration has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 825196.

Owner of the demonstrator

Electrotécnica Alavesa

Responsible person

ELECTROTÉCNICA ALAVESA

Oihane Mayo Ijurra,

Engineer at R&D department E-mail: o.mayo@aldathink.es

NACE

M71 - Architectural and engineering activities; technical testing and analysis

Keywords

Robotics, Vision System, Machine Learning, human-robot collaboration, Collaborative Robotics.