Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2022

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI). Contents Artificial Intelligence High Precision Peg-in-Hole Assembly Approach Based on Sensitive Robotics and Deep Recurrent Q-Learning 1 Introduction 2 State of the Art 3 Problem Formulation and Task Description 4 Reinforcement Learning 5 Search Skill Learning Approach 6 Implementation and Validation 7 Conclusion and Future Work Generalized Model for the Optimization of a LIFO Topology Storage Using a Metaheuristic Algorithm 1 Introduction 2 Problem Description 3 Previous Works 4 Theoretical Basis 4.1 Biological Model and Basic Idea 4.2 Structure and Function of the Genetic Algorithm 5 Data Structure 6 Convergence Behavior 7 Exploration vs. Exploitation 8 Discussion Machine Learning as an Enabler for Automated Assistance Systems for the Classification of Tool Wear on Milling Tools Abstract 1 Milling Tool Assessment in the Machining Industry 2 Classification of Tool Wear Using Methods of Machine Learning 3 Approach to Aligning the Classification Accuracy of a Machine Learning Algorithm With Expert Knowledge 3.1 Image Acquisition Device 3.2 Dataset and Preprocessing 3.3 Convolutional Neural Network Implementation 4 Results 5 Conclusion and Outlook References Resource Allocation Simulation-Based Potential Analysis of Line-Less Assembly Systems in the Automotive Industry Abstract 1 Introduction 2 State of the Art: Simulation Studies of Assembly Flexibilisation 3 Automated Scenario Analysis for Modelling of Takt Line and Line-Less Assembly Systems 4 Modelling of an Industrial Use Case 5 Discussion on Simulation Results 6 Conclusion and Outlook References Ontology-Based Task Allocation for Heterogeneous Resources in Line-Less Mobile Assembly Systems Abstract 1 Station Control in Line-Less Mobile Assembly Systems 2 Related Work in the Context of Station Planning in LMAS 3 Methodology and Foundations 4 Capability-Based Resource Allocation Ontology CAPILANO 5 Task Allocation Framework 6 Evaluation and Results 7 Conclusion and Outlook References Exploratory Pilot Study for the Integration of Task-Specific Load Alternation into a Cyclic Assembly Process Abstract 1 Introduction 2 State of the Art 3 Basics of the Project 3.1 Project Design 3.2 Definition of the Reference Process and Work System design 4 Pilot Study 4.1 Methods and Procedure 4.2 Results and Discussion 5 Reconfiguration 6 Outlook References Augmented Reality Input and Tracking System for Augmented Reality-Assisted Robot Programming Abstract 1 Introduction 2 Related Work 3 Concept 4 Implementation 5 Evaluation 5.1 Demonstration 5.2 Examination of the System Accuracy 5.3 Discussion 6 Conclusion References Usability of Augmented Reality Assisted Commissioning of Industrial Robot Programs Abstract 1 Introduction 2 MiReP—Mixed Reality Programming 3 Target Dimensions of Usability 4 Methodology 5 Mock-Up and Conduction of the Experiment 6 Discussion 7 Conclusion and Outlook References Verification and Integration of Safety Systems for Industrial Robot Cells Using Laser-Based Distance Measurement and Augmented Reality Abstract 1 Introduction 1.1 Safety Concepts for Robot Cells 2 Materials and Methods 3 Results 3.1 Development of a Method to Verify Safety Components 3.2 Development of the Planning, Communication and Verification Software 3.3 Development of a Modular Measuring- and Visualization System 4 Summary and Conclusion References Digital Twin Digital Twin for Evaluating Support Characteristics for Industrial Exoskeletons for Upper Body Activities Abstract 1 Introduction 2 Evaluation of the Biomechanical Requirements for the Digital Twin 2.1 Analysis of the Workflow and the Specific Environment 2.2 Biomechanical Analysis 2.3 Digital Human Model 2.4 Process for the Prototypical Implementation of a Digital Twin 3 Application Example: Overhead Lifting Task 3.1 Results 3.2 Discussion of the Results 4 Conclusion and Outlook References Scenario-Driven Data Generation with Experimentable Digital Twins 1 Introduction 2 State of the Art 3 The Scenario Variation Methodology 3.1 Scenario Configuration 3.2 Scenario Variation 3.3 Scenario Evaluation 3.4 Scenario Redesign 3.5 ML Training and Validation 4 Application Examples 5 Conclusions Living Earth—A Methodology for Modeling the Environment of Construction Sites Via Digital Twins 1 Introduction 2 State of the Art 3 Methodology 4 Experiments 4.1 Surface Model 4.2 Slip and Soil Compaction 5 Discussion 6 Conclusion Modeling Analyzing Natural Resting Aspects of Arbitrary Components Using a Physics Engine Abstract 1 Introduction 2 Related Work 3 Drop Test Simulation Using a Physics Engine 3.1 Preparation of the Simulation Environment 3.2 Simulation Run and Cancellation Criterion 3.3 Export of Rotation Data 4 Data Evaluation and Identification of Natural Resting Positions 5 Experimental Evaluation 6 Results 7 Conclusion and Outlook References Two-Stage Robotic Bin Picking of Small Metallic Objects Abstract 1 Introduction 2 State of the Art 3 Two-Stage Bin Picking: System Design and Methodology 3.1 Requirements and System Design 3.2 Two-Stage Procedure for Bin Picking with Magnetic Gripper 3.3 Grasping Process and Pose Estimation 4 Implementation and Evaluation 5 Summary and Outlook References Investigation and Compensation of Hysteresis in Robot Joints with Cycloidal Drives 1 Introduction 2 Related Work 3 Experimental Setup 4 Investigation 4.1 Friction 4.2 Hysteresis 5 Compensation Method 5.1 Modeling 5.2 Compensation Scheme 5.3 Experimental Validation 6 Conclusions Ergonomics LiDAR-based Real-Time Measurement and Control of Shoulder Torque—Preview on an Experimental Approach 1 Introduction 2 Related Work 3 Mechanical Mock-up 4 Model 5 Surrogate Model 6 Control 7 LiDAR Sensors 8 Results and Discussion 9 Summary and Outlook Laboratory-Based Evaluation of Exoskeletons in an Overhead Assembly Task Abstract 1 Introduction 2 State of the Art 3 Materials and Methods 3.1 Study Participants 3.2 Test Setup 3.3 Used Exoskeletons 3.4 Applied Evaluation Methods 3.5 Data Acquisition and Processing 4 Results 4.1 Results from Questionnaire Study 4.2 Results from EMG Study 5 Discussion 5.1 Limitations of Studies and Results 5.2 Lessons Learned from Studies 5.3 Implications on Future Workplaces 6 Conclusion and Outlook References Evaluation of the Ergonomic Potential of Adaptive Assembly Jigs for Large-Scale Products Using Human Modelling Abstract 1 Introduction 2 Product and jig Design 2.1 Assembly Object 2.2 Assembly Devices 3 Process Design 3.1 Determination of the Work Steps 3.2 Work Scheduling 4 Determination of Key Indicators 5 Conclusion and Summary References Path Planning 1 Towards Learning by Demonstration for Industrial Assembly Tasks 1 Introduction 2 Background 2.1 Dynamic Movement Primitives 2.2 Methods-Time Measurement 3 The MTM-based Optimised CDMP Framework 4 Experimental Evaluation 4.1 Experimental Setup 4.2 Results and Discussion 5 Conclusion and Future Work Visual Programming of Robot Tasks with Product and Process Variety 1 Introduction and Related Work 2 Our Approach 2.1 Part Types and Locations 2.2 Task Models with Degrees of Freedom 2.3 Visual Programming 2.4 Plan Instantiation 3 Experimental Validation 4 Conclusion and Future Work DOE Laser-assisted Turntable Calibration and Workpiece Registration 1 Introduction 2 Related Work 3 Turntable Calibration 3.1 Definitions 3.2 Calibration Method 4 Workpiece Registration 5 Experiments 5.1 Accuracy of Turntable Calibration 5.2 Accuracy of Workpiece Registration 5.3 Execution Time 6 Conclusion Path Planning 2 Digital Geometry Recording for Automation of the One-Off Production of Pipes Abstract 1 Introduction 2 Approach to Automation 2.1 Analysis of the Manufacturing Process 2.2 Analysis of the Material Spectrum 2.3 Analysis of the Production Chain 2.4 Derivation to Automation 3 Implementation of the Developed Process Chain 3.1 Operating Concept on the Smartpad 3.2 Integration into the Process Chain 3.3 Evaluation 4 Conclusion References Detection and Handling of Dynamic Scenes During an Active Vision Process for Object Recognition Using a Boundary Representation 1 Introduction 2 State of the Art 3 Our Approach 3.1 Basic Approach for Static Scenes 3.2 Enhancement for Dynamic Scenes 3.3 Classifying Possible Changes 3.4 Detecting Changes 3.5 Handling Changes 4 Evaluation 4.1 Setup 4.2 Results 5 Conclusion An Integrated Approach for Hand Motion Segmentation and Robot Skills Representation 1 Introduction 2 Related Work 3 Motion Segmentation 3.1 Data Collection 3.2 Motion Representation 4 DMP for Skills Representation 5 Experimental Setup 6 Experimental Results 6.1 Segmentation 6.2 Learning DMPs 7 Conclusion Vacuum Gripper Flow Modeling for Vacuum Pressure-Based Handling of Porous Electrodes of Lithium-Ion Batteries 1 Introduction 2 Scope and Motivation of Fluid-Dynamic Electrode Model 2.1 Relevance of Vacuum Suction-Based Handling and Transport of Electrodes in Battery Production 2.2 Earlier Work in Modeling Handling and Transport of Electrodes 2.3 Discussion 3 A Model for Vacuum Suction Flow Through Electrodes 3.1 A Flow Model for Vacuum Suction Cup Gripper 3.2 A Flow Model for Vacuum Effective Surfaces 4 Evaluation of the Model 4.1 Experimental Setup and Data Reduction 4.2 Results and Discussion 5 Conclusion Empirically Adapted Model for the Handling of Variable Geometries with Vacuum-Based Granulate Grippers Abstract 1 Introduction—Challenges for Universal Handling 2 State of the Art 3 Analytical Model Frameworks for Gripping Forces 4 Conclusion and Outlook References Automated Stack Singulation for Technical Textiles Using Sensor Supervised Low Pressure Suction Grippers Abstract 1 Introduction and Related Work 2 Gripping System Overview 3 Subsystem Modelling 3.1 Vacuum Generation 3.2 Perforated Plates 3.3 Air-Permeable Textiles 3.4 Leakage Currents 4 Robotic Workstation 4.1 Control Structure 4.2 Experimental Validation 5 Conclusion and Outlook References Gripping Technology and Industry 4.0 Accuracy Examination of a Flexible Pin Gripper for Forging Applications 1 Introduction 2 Related Work 3 High Temperature Flexible Handling System 3.1 The Pin Jaws 3.2 Grasping Device 4 Controlling Concept 4.1 Concept 4.2 Gripping Routine 5 Validation 5.1 Experiments 5.2 Results 6 Summary 7 Outlook Use of Autonomous UAVs for Material Supply in Terminal Strip Assembly Abstract 1 Terminal Strip Assembly: The Need for Improving Picking Automation 1.1 Material Supply of Terminals and Jumpers 1.2 Time-Consuming Picking Process for Assembly of Terminal Strips 1.3 Demand of Terminals 2 Innovative Picking Automation with UAVs 2.1 Automation Concepts for the Material Supply of Terminal Strip Assembly 2.2 UAVs for Material Delivery Tasks 3 Conclusion and next steps References Integration of an IoT Communication Infrastructure in Distributed Production Systems in Industry 4.0 1 Introduction 2 State of the Art 2.1 Centralized ERP 2.2 Cloud-based Solutions 2.3 AAS-based Networking 2.4 Summary 3 Concepts 3.1 Requirements 3.2 Digital Twin 3.3 From Digital Twin to I4.0 Things 3.4 Platform 4 Application 5 Conclusion Author Index High Precision Peg-in-Hole Assembly Approach Based on Sensitive Robotics and Deep Recurrent Q-Learning Nehal Atef Afifi, Marco Schneider, Ali Kanso and Rainer Müller Generalized Model for the Optimization of a LIFO Topology Storage Using a Metaheuristic Algorithm Dominik Kuhn, Jan Adelsbach, Martin Karkowski and Rainer Müller Machine Learning as an Enabler for Automated Assistance Systems for the Classification of Tool Wear on Milling Tools Björn Papenberg, Sebastian Hogreve and Kirsten Tracht Resource Allocation Simulation-Based Potential Analysis of Line-Less Assembly Systems in the Automotive Industry Jonas Rachner, Lea Kaven, Florian Voet, Amon Göppert and Robert H. Schmitt Ontology-Based Task Allocation for Heterogeneous Resources in Line-Less Mobile Assembly Systems Aline Kluge-Wilkes, Balaji Gunaseelan and Robert H. Schmitt Exploratory Pilot Study for the Integration of Task-Specific Load Alternation into a Cyclic Assembly Process Input and Tracking System for Augmented Reality-Assisted Robot Programming Michael Brand, Marvin Gravert, Lukas Antonio Wulff and Thorsten Schüppstuhl Usability of Augmented Reality Assisted Commissioning of Industrial Robot Programs Lukas Antonio Wulff, Michael Brand and Thorsten Schüppstuhl Verification and Integration of Safety Systems for Industrial Robot Cells Using Laser-Based Distance Measurement and Augmented Reality Patrick Seim, Benedict Theren, Jürgen Kutschinski and Bernd Kuhlenkötter Digital Twin Digital Twin for Evaluating Support Characteristics for Industrial Exoskeletons for Upper Body Activities Samuel Villotti, Lukas Durst and Robert Weidner Scenario-Driven Data Generation with Experimentable Digital Twins Osama Maqbool and Jürgen Roßmann Living Earth—A Methodology for Modeling the Environment of Construction Sites Via Digital Twins Artem Bliznyuk, Michael Schluse and Jürgen Roßmann Modeling Analyzing Natural Resting Aspects of Arbitrary Components Using a Physics Engine Torge Kolditz, Jakob Hentschel and Annika Raatz Two-Stage Robotic Bin Picking of Small Metallic Objects Meike Herbert, Paul Bach, Markus Lieret, Jens Fürst and Jörg Franke Investigation and Compensation of Hysteresis in Robot Joints with Cycloidal Drives Patrick Mesmer, Patrick Riedel, Armin Lechler and Alexander Verl Ergonomics LiDAR-based Real-Time Measurement and Control of Shoulder Torque—Preview on an Experimental Approach Max Herrmann, Christoph Ebenhoch, Jens von der Wense and Robert Weidner Laboratory-Based Evaluation of Exoskeletons in an Overhead Assembly Task Lennart Ralfs, Tobias Peck and Robert Weidner Evaluation of the Ergonomic Potential of Adaptive Assembly Jigs for Large-Scale Products Using Human Modelling Sebastian Hogreve, Hannah Wallmeier and Kirsten Tracht Path Planning Towards Learning by Demonstration for Industrial Assembly Tasks Victor Hernandez Moreno, Marc G. Carmichael and Jochen Deuse Visual Programming of Robot Tasks with Product and Process Variety Dominik Riedelbauch and Sascha Sucker DOE Laser-assisted Turntable Calibration and Workpiece Registration Edgar Schmidt, Pascal Ruppert and Dominik Henrich Path Planning Digital Geometry Recording for Automation of the One-Off Production of Pipes Jacques Biltgen, Sascha Lauer, Martin-Christoph Wanner and Wilko Flügge Detection and Handling of Dynamic Scenes During an Active Vision Process for Object Recognition Using a Boundary Representation Dorian Rohner, Johannes Hartwig and Dominik Henrich An Integrated Approach for Hand Motion Segmentation and Robot Skills Representation Shuang Lu, Julia Berger and Johannes Schilp Vacuum Gripper Flow Modeling for Vacuum Pressure-Based Handling of Porous Electrodes of Lithium-Ion Batteries Robert Schimanek, Muhammed Aydemir, Alexander Müller and Franz Dietrich Empirically Adapted Model for the Handling of Variable Geometries with Vacuum-Based Granulate Grippers Christian Wacker, Niklas Dierks, Illgen Joana, Arno Kwade and Klaus Dröder Automated Stack Singulation for Technical Textiles Using Sensor Supervised Low Pressure Suction Grippers Benjamin Wirth, Tizian Schwind, Marco Friedmann and Jürgen Fleischer Accuracy Examination of a Flexible Pin Gripper for Forging Applications Caner-Veli Ince, Jan Geggier and Annika Raatz Use of Autonomous UAVs for Material Supply in Terminal Strip Assembly Marius Boshoff, Michael Miro, Martin Sudhoff and Bernd Kuhlenkötter Integration of an IoT Communication Infrastructure in Distributed Production Systems in Industry 4.0 Jiahang Chen and Jürgen Roßmann Author Index