This paper presents the design and implementation of a tool for Human-Robot collaborative tasks. Industry 4.0 proposes a new scenario where robots can safely work in direct cooperation with humans, within a defined workspace. These robots are called collaborative robots or COBOTS. In this paper, we propose a tool that can be used by a robot and/or an operator for pick and place tasks. The tool was designed to meet certain criteria for the robot, so that it can identify it, hold it, and perform the task. Additionally, it was designed to comply with ergonomic parameters for the human operator. A prototype of the tool was printed with a FusedForm 3D printer. This prototype was used for a test where a robot and an operator will use the tool for picking plastic bottles from a worktable. An UR3 robot was used in the test. It was equipped with a camera in charge of identifying and estimating the position of the tool using ArUco codes placed on the tool. Results show the functionality of the tool for both the robot and the human operator. Additionally, ergonomic tests provided insights to improve the handling system of the tool for the human operator.


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    Title :

    A Collaborative Vacuum Tool for Humans and Robots


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Proceedings of the Latin American Congress on Automation and Robotics ; 2019 ; Cali, Colombia October 30, 2019 - November 01, 2019



    Publication date :

    2020-01-30


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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