A Monitoring Concept for Co–operative Assembly Tasks

In this paper we present a monitoring concept for co-operative assembly tasks. In cooperative assembly a human operator and a collaborative robot -cobot - share the work place and carry out assembly tasks. A generic assembly model is described for collaborative assembly tasks where two heavy parts are joined together. A cobot monitoring concept was developed with a software architecture considering functional, safety and quality aspects. The developed software was integrated and tested in an experimental cobot cell.