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A Framework for Enhanced Human–Robot Collaboration during Disassembly Using Digital Twin and Virtual Reality

Hoebert, Timon; Seibel, Stephan; Amersdorfer, Manuel ORCID iD icon 1; Vincze, Markus; Lepuschitz, Wilfried; Merdan, Munir
1 Institut für Mechanische Verfahrenstechnik und Mechanik (MVM), Karlsruher Institut für Technologie (KIT)

Abstract:

This paper presents a framework that integrates Digital Twin and Virtual Reality (VR) technologies to improve the efficiency and safety of human-robot collaborative systems in the disassembly domain. With the increasing complexity of end-of-life electronic products and related disassembly tasks characterized by variabilities such as rust, deformation, and diverse part geometries, traditional industrial robots face significant challenges in this domain. These challenges require adaptable and flexible automation solutions that can work safely alongside human workers. We have developed an architecture to address these challenges and support system configuration, training, and operational monitoring. Our framework incorporates a Digital Twin to provide a real-time virtual representation of the physical disassembly process, allowing for immediate feedback and dynamic adjustment of operations. In addition, VR is used to simulate and optimize workspace layout, improve human-robot interaction, and facilitate safe and effective training scenarios without the need for physical prototypes. A unique case study is presented where the collaborative system is specifically applied to the disassembly of antenna amplifiers, illustrating the potential of our comprehensive approach to facilitate engineering processes and enhance collaborative safety.


Verlagsausgabe §
DOI: 10.5445/IR/1000173179
Veröffentlicht am 07.08.2024
Originalveröffentlichung
DOI: 10.3390/robotics13070104
Scopus
Zitationen: 1
Dimensions
Zitationen: 1
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Mechanische Verfahrenstechnik und Mechanik (MVM)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2024
Sprache Englisch
Identifikator ISSN: 2218-6581
KITopen-ID: 1000173179
Erschienen in Robotics
Verlag MDPI
Band 13
Heft 7
Seiten Art.-Nr.: 104
Projektinformation SmartDis (BMWK, 01MJ21005A)
Bemerkung zur Veröffentlichung This article belongs to the Special Issue Digital Twin-Based Human–Robot Collaborative Systems.
Vorab online veröffentlicht am 12.07.2024
Schlagwörter digital twin; virtual reality; disassembly; industrial robot; collaborative robotics
Nachgewiesen in Scopus
Dimensions
Globale Ziele für nachhaltige Entwicklung Ziel 9 – Industrie, Innovation und InfrastrukturZiel 12 – Nachhaltiger Konsum und Produktion
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