This demo shows the current status of the collaborative assembly envisioned at Groupe PSA Trémery with the ScalABLE4.0 robot. During the "teaching" phase, the operator instructs the robot with new positions for the piston, the cylinder, and the ring. The rest of the positions are relative and known a priori (e.g., the approaching position of the piston). A set of footswitches underneath the table allows the operator to step the sequence of instructions. Then, the robot carries out the assembly autonomously during the "production" phase.
The framework behind this demo fulfills the four following requirements:
1) it allows to intertwine the instruction of new positions with the execution of the assembly, hence validating new programs in parallel;
2) It allows for the operator to interrupt the execution of the assembly at any time (e.g., if something goes wrong), without neither compromising safety nor damaging any part;
3) It allows for the implementation of failure identifications; and
4) it allows for the implementation of recovery strategies.
This video reflects only the author’s view and the European Commission is not responsible for any use that may be made of the information it contains.
