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rob@work: Robot assistant in industrial environments

: Helms, E.; Schraft, R.D.; Hägele, M.


IEEE Industrial Electronics Society; Robotics Society of Japan -RSJ-:
IEEE ROMAN 2002. Proceedings : 11th IEEE International Workshop in Robot and Human Interactive Communication, September 25-27, 2002, Berlin
Piscataway, NJ: IEEE, 2002
ISBN: 0-7803-7545-9
International Workshop on Robot and Human Communication (ROMAN) <11, 2002, Berlin>
Conference Paper
Fraunhofer IPA ()
Assistenzsystem; robotic assistant; man-robot-cooperation; Rob@work; Fertigung; Mensch-Maschine-System

In this contribution we present a robot assistant consisting of a mobile platform and a manipulator to support manual workplaces in production environments. We propose a general definition of robot assistants. Two applications for the robot assistant rob@work are described - the assembly of hydraulic pumps and the assistance of manual gas metal arc welding (GMAW). A description of the hardware and software architecture, the man-machine-interface, the task-planner and the path-planning of the robot assistant is given.