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ROS-Based Robot Simulation in Human-Robot Collaboration

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Developing Support Technologies

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 23))

Abstract

The idea of human-robot collaboration (HRC) in assembly follows the aim of wisely combining the special capabilities of human workers and of robots in order to increase productivity in flexible assembly processes and to reduce the physical strain on human workers. The high degree of cooperation goes along with the fact that the effort to introduce an HRC workstation is fairly high and HRC has hardly been implemented in current productions so far. A major reason for this is a lack of planning and simulation software for the HRC. Therefore, this paper introduces an approach of how to implement such a software on the basis of the Robot Operating System (ROS) framework in order to enable a realistic simulation of the direct cooperation between human workers and robots.

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Notes

  1. 1.

    http://www.ros.org/.

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Acknowledgements

The research and development project “KoMPI” (http://kompi.org/) is funded by the German Federal Ministry of Education and Research (BMBF) within the Framework Concept “Research for Tomorrow’s Production” (fund number 02P15A060) and managed by the Project Management Agency Forschungszentrum Karlsruhe, Production and Manufacturing Technologies Division (PTKA-PFT).

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Authors and Affiliations

  1. Chair of Production Systems, Ruhr-University of Bochum, Universitätsstr. 150, 44801, Bochum, Germany

    Paul Glogowski, Kai Lemmerz, Alfred Hypki & Bernd Kuhlenkötter

Authors
  1. Paul Glogowski
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  2. Kai Lemmerz
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  3. Alfred Hypki
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  4. Bernd Kuhlenkötter
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Corresponding author

Correspondence to Paul Glogowski .

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Editors and Affiliations

  1. Laboratory of Manufacturing Technology, Helmut Schmidt University/University of the Federal Armed Forces Hamburg, Hamburg, Germany

    Athanasios Karafillidis

  2. Laboratory of Manufacturing Technology, Helmut Schmidt University/University of the Federal Armed Forces Hamburg, Hamburg, Germany

    Robert Weidner

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Glogowski, P., Lemmerz, K., Hypki, A., Kuhlenkötter, B. (2018). ROS-Based Robot Simulation in Human-Robot Collaboration. In: Karafillidis, A., Weidner, R. (eds) Developing Support Technologies. Biosystems & Biorobotics, vol 23. Springer, Cham. https://doi.org/10.1007/978-3-030-01836-8_23

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  • DOI: https://doi.org/10.1007/978-3-030-01836-8_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-01835-1

  • Online ISBN: 978-3-030-01836-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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