DETAILED SEMINAR REPORT

2015-09-25

DO SINH
Student ID No:0486013
Department: EECS -Computer Science
(+866) 978872393
dosinhuda@gmail.com
dosinhuda.cs04g@nctu.edu.tw

Research
Industrial

on
Robots in
MSC* Lab
for Factory Automation.
Masayoshi Tomizuka

Cheryl and Jonh Neerhout Jr Distinguished Professor

*Mechanical Systems Control Lab
Department of Mechanical Engineering
University of California Berkeley

September 2015

Robots play significant roles in modern factory automation. On top of superior

performance of basic functions such as speed, accuracy and vibration suppression,
robots must be easy to use for operators, be able to effectively collaborate with
human workers while ensuring safe work environments, and possess basic
intelligent functions such as learning. In this tall, several recent projects performed
at the *Mechanical Systems Control Laboratory of the UC Berkeley will be
reviewed. Specifically, human robot collaboration in peg-hole-insertion, safety
assurance in human robot collaboration and robust iterative learning control for
vibration suppression of industrial robots will be presented. Basic theory,
simulation and experimentation will be covered.

Learning and Adaption: Robots must be able to perform their tasks in

environments with greater uncertainty than current systems can tolerate. Once
possible way to achieve this is through learning by demonstration.

Formal Methods: Mathematical models and the tools of logic have to guide
specification, development, and verification of software and hardware systems.
Measurement Science: Elements under the broad measurement science umbrella
include fundamental metrology, performance metrics, test methods, reference
artifacts and data, reference architectures, and critical technical inputs to standards.

Cloud Robotics and Automation for Manufacturing: Manufacturing systems

required reliable sensing and interacting with complex, dynamic, high-dimensional
environments and systems. In 2010, a new paradigm emerged. "Cloud Robotics,"
which shifts the demanding processing and data management to the Cloud.

Research on Industrial Robots in MSC Lab for Factory Automation: Fig 1

below shows the model to deploy in MSC Lab.

Fig 1. The model to deploy in MSC Lab

There are three topic in this seminar, includes: Human Robot Collaboration in
Peg-Hall-Insertion; Human Robot Collaboration - Safety; and Robust Iterative
Learning Control for Vibration Suppression of Industrial Robot Manipulators.

The detailed seminar report will focus on the key collaborations and technical
methods.

Co-Robots: This collaboration may be focused on the Co-Inhabitant, Co-Worker,

Co-Defender and Co-Explorer. Fig 2. Shows the Collaborations.

Fig 2. The Co-Robots

In the future, Co-Robots in Factories will focus on Automated Guided Vehicle

(AGV), Robot Arm, Human Inspector... Fig 3 Shows the general future in CoRobots.

Fig 3. Co-Robots in Factories of the Future

Finally, The technical challenges are significant to reach intelligent Co-Robot such
as Cognition Learning, Knowledge Representation, Planning Navigation, Sensory
and Perception, HW/SW Architecture, Platforms - Mechanisms, Control,
Modeling... Fig 4. Shows the technical challenges in Co-Robots.

Fig 4. Technical Challenges in Co-Robot

These challenges arm to reach "Safety". It means that protection of activities

become key functions:

- First Protection: Active human avoidance when a potential collision is detected

by Sensors and perception. Cognition with learning and understanding the
environment and other agents. In other talk, Motion Planning technical challenges
such as constrained optimal control become important researches.

- Second Protection: Impact reduction when a collision happens inevitably.

Conclusion:

- Robots are more and more penetrating to various industrial applications: Looking
for cheap labors is no longer a solution, cost reduction and more efficient
production and higher quality.

- Adaptation and learning are expected functions of modern robots.

- One kind/large volume production vs many kinds small volumes production:

Human robot collaboration.

- Research presented in this talk is relevant to other robot application such as

medical robots, autonomous vehicles, etc.

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