MANGALORE INSTITUTE OF TECHNOLOGY & ENGINEERING

(A Unit of Rajalaxmi Education Trust®, Mangalore)

Autonomous Institute affiliated to VTU, Belagavi, Approved by AICTE, New Delhi
Accredited by NAAC with A+ Grade & ISO 9001:2015 Certified Institution

DEPARTMENT OF MECHATRONICS ENGINEERING

Project Work Phase 1(18MTP78): 2023-24

Name of the Students : 1.Nikhil AS

2. Mohammed Anfal
3.Isthiyak
4. Lionel Pereira
University seat numbers : 1.4MT21MT402
2. 4MT20MT012
3. 4MT20MT009
4. 4MT19MT037

Title of the Project work : Collaborative Robot for Industrial and commercial
Applications

Name and Signature of the : Ms. Nishmitha

guide

Synopsis
I Abstract:
Collaborative robots (cobots) have been increasingly adopted in industries to facilitate human–robot
collaboration. Despite this, it is challenging to program cobots for collaborative industrial tasks as the
programming has two distinct elements that are difficult to implement: (1) an intuitive element to ensure that
the operations of a cobot can be composed or altered dynamically by an operator, and (2) a human-aware
element to support cobots in producing flexible and adaptive behaviours dependent on human partners. In this
area, some research works have been carried out recently, but there is a lack of a systematic summary on the
subject. In this paper, an overview of collaborative industrial scenarios and programming requirements for
cobots to implement effective collaboration is given. Then, detailed reviews on cobot programming, which are
categorized into communication, optimisation, and learning, are conducted. Additionally, a significant gap
between cobot programming implemented in industry and in research is identified, and research that works
towards bridging this gap is pinpointed. Finally, the future directions of cobots for industrial collaborative
scenarios are outlined, including potential points of extension and improvement.

Keywords: Cobots, Industry 4.0, collaborative robot, robot collaboration, assembly, robot-human interaction
II Introduction
Manufacturing in the Industry 4.0 era necessitates rapid, proactive responses to ever-changing consumers’
demands. This had led to a trend of mass customization, where certain aspects of the product, hence
manufacturing processes, are tailored to meet the requirements of individual customers. Meanwhile,
manufacturers need to continuously improve sustainability, production efficiency and quality throughout the
product life cycle to ensure their competitive edge. Industrial automation is capable of maintaining high
efficiency and repeatability for mass production. However, it lacks flexibility to deal with uncertainties in work
spaces resulting from mass customization. While humans, in such situations, can deal with such uncertainties
and variability, they are restricted by their physical capabilities, in terms of repeatability, physical strength,
stamina, speed etc. [1]. These limitations often result in reduced efficiency and quality [2]. A balance of
automation and flexibility is thus required to achieve these overarching manufacturing goals during mass
customization. That promotes research in combining the benefits of automation and manual labor. This
research has culminated in Human–Robot Collaboration (HRC), a promising robotics discipline focusing on
enabling robots and humans to operate jointly to complete collaborative tasks.

Fig 1: Collaborative Robot

a.) Objectives of the proposed work:

1.) Teaching Complex motion and Easy of Programming: Teaching and training Robot for complex motion
in the surrounding environment

2.) Twin configuration: Creating a Digital Twin of robot for recording and doing repetitive tasks

3.) Enhancing safety and Ergonomics: Since cobot work with humans, safety can be achieved by using
sensors and Ergonomics design is important
b.) Problem definition:

➢ Complex Motion are difficult for achieving using Teach Pendant Robot In industries like painting
automotive parts requires complex motion for paint job which is unachievable using teach pendant robot

➢ Most of the industrial robot are far from human vicinity: for safety consideration industrial robot
are kept in enchased closed environment for safety of humans which reduced less collaboration between
humans and operation taking place at industries

➢ Requires large floor space: Industrial robots requires large floor space for setup and work

➢ Difficulty in Programming: We require a Highly skilled person for programming the robot

c.) Block Diagram

The Figure 2 explains the concept of Cobot

Fig 2: Concept of Cobot

The above figures show a Human Operator with robot manipulator teaching the robot path/motions for
operations. The path is recorded to the computer’s memory. A digital twin of robot is created in Computer which
shows the path simulation recorded and this motion can be edited or further used for repetitive tasks.
d.) Hardware and software requirements:

Sl.No Item Quantity

1 500 W capacity Battery 1

2 MCU 1

3 Stepper Motors 6

4 Manipulator arm structures 1

5 Sensors: Rotatory encoder and force sensor 6

III Literature Survey

1. Robot Kinematics and Dynamics:

• Title: "Robotics: Modelling, Planning and Control" Author: Bruno Siciliano, Lorenzo Sciavicco,
et al.

2. Robot Control and Programming:

• Title: "Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and Algorithms"

Author: Nikolaus Correll, Bradley Hayes, et al.

3. Robotic Vision and Perception:

• Title: "Robot Vision" Author: Berthold K.P. Horn, 1986.

4. Robot Localization and Mapping:

• Title: "Probabilistic Robotics" Author: Sebastian Thrun, Wolfram Burgard, Dieter Fox, 2005.

5. Human-Robot Interaction:

• Title: "Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and Algorithms"

Author: Nikolaus Correll, Bradley Hayes, et al.

6. Collaborative Robots (Cobots):

• Title: "A Survey of Human-Centric Industrial Robotics" Authors: S. Carpin, N. Mansard, et al.,
2016.
IV Methodology:

Configuration
Collection of Modelling and
Selection and
Sizing components simulation

System
Sensors and Actuators
3D printing Integration
Installation

Study Compare the

and optimize the results and
parameters of each
system Reporting

Fig: Proposed Methodology

V Expected results:

1.) Easy of Programming

2.) Good Human Machine Interface

3.) Effective Use of Tools

VI Approximate Cost:

Cost Estimated for this project is around 25,000 INR

VII Probable outcome:

1. Increased Productivity: Cobots can perform repetitive tasks with high precision and consistency,
leading to increased production rates and overall productivity.
2. Improved Quality and Accuracy: Cobots are capable of performing tasks with a high level of
precision, reducing the likelihood of errors and defects in manufactured products.
3. Enhanced Worker Safety: Cobots are designed to work safely alongside humans, minimizing the risk
of accidents and injuries in the workplace. They often have built-in safety features like collision
detection and force-limiting technology.
4. Ergonomic Benefits: Cobots can take on physically demanding or ergonomically challenging tasks,
reducing strain on human workers and minimizing the risk of musculoskeletal injuries.
5. Flexibility and Adaptability: Cobots can be easily reprogrammed or reconfigured to perform different
tasks, making them highly versatile and adaptable to changing production needs.
VIII References:

1. Rethink Robotics. "What is a Cobot?" https://www.rethinkrobotics.com/collaborative-robots/

2. Universal Robots. "Collaborative Robots (Cobots)." https://www.universal-robots.com/collaborative-

robots/

3. ISO/TS 15066:2016. "Robots and robotic devices - Collaborative robots." International Organization for
Standardization.

4. Carpin, S., et al. (2016). "A Survey of Human-Centric Industrial Robotics." Autonomous Robots, 40(5),
729-753.

5. Pires, J. N. (2018). "Industrial Robots Programming: Building Applications for the Factories of the
Future." CRC Press.

6. Siciliano, B., et al. "Robotics: Modelling, Planning and Control." Springer, 2010.

7. Correll, N., et al. (2016). "Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and
Algorithms." MIT Press.

8. Thrun, S., Burgard, W., & Fox, D. (2005). "Probabilistic Robotics." MIT Press.

9. Lin, P., Abney, K., & Bekey, G. A. (2012). "Robot Ethics: The Ethical and Social Implications of
Robotics." MIT Press.

10. Laschi, C., & Mazzolai, B. (2016). "Soft Robotics: A Perspective—Current Trends and Prospects for
the Future." Soft Robotics, 3(1), 5-11.