**3.3 Standards**

*Collaborative and Humanoid Robots*

**3.1 Programming a Cobot**

motion control.

**3.2 Cyber security**

confidence, product quality, etc.

trial-and-error iterations, training data, etc.

workers [8].

fied are [10]:

the adoption of Cobots in the industry are the lack of a highly skilled workforce to program the robot to perform complex tasks and the integration of robotic systems to other smart devices in the factory. In addition, teaching and simulation by nonrobotics experts of many collaborative robot systems is a great challenge, because these systems are designed to be programmed by experts and not by ordinary

The main goal ofhuman-robotcollaboration (HRC) is to create an environment for safe collaboration between humans and robots. There is an area between manual manufacturing and fully automated production where a human worker comes into contact with the machine. This area has many limitations due to security restrictions. The machine can be in automatic operation only if the operational staff is outside their workspace. Collaborative robotics establishes new opportunities in cooperation between humans and machines, where staff share the workspace with the robot helping with non-ergonomic, repetitive, uncomfortable, or even dangerous operations. The robot monitors its movements by using advanced sensors so as

The programming process of a Cobot involves the ability to understand the state of the environment and perform actions that advance the system towards a planned goal of collaboration. The programming characteristics of Cobots identi-

• Communication: an operator controls an Cobot through a communication channel that can be verbal (speech) or nonverbal. The programmer's offline function is to program and define possible actions of Cobot and the underlying

• Optimization: Important aspects of an Cobot senvironment, such as obstacles and tool positions, are mathematically modeled based on the actions of the Cobot. Those form cost functions that are optimized to generate desirable performance. The Cobot program can be carried out to minimize the operator's workload, energy consumed and lost time, or maximize physical comfort and

• Learning: An Cobot Clearns a skill like what a human would, for example, by observing demonstrations, trial and error, receiving feedback, and asking questions. The role of a programmer is to design the learning algorithm and provide initial data for the Cobot to learn. That could be in the form of demos,

Digitization strategies in cyberphysical production systems (CPPS) are one of the key factors in Industry 4.0. Its integration into a hyperconnected system facilitates the production of goods and services. In addition, these industries are characterized by automation, as well as unmatched levels of data exchange across the value chain. The topic not only addresses data preparation, real-time data processing, big data analysis, visualization, and machine interface design, but also cybersecurity. In particular, unauthorized access to protected data (personal or business) or unauthorized control of production facilities involve risks in terms of digitisation, with digitisation having an impact on security. Cybersecurity risks are crucial as

not to limit, but mainly not to endanger the worker [9].

**6**

Industrial regulations that incorporate the risks related to the use of collaborative robots by workers include the international standard ISO 10218 and the Technical Specification ISO/TS 15066: 2016, the American ANSI/RIA R15.06, the European EN 775 that is adapted from ISO 10218, and standards such as the Spanish UNE-EN 755 adapted from EN 755 by the Spanish Association of Standardization and Certification. To prevent accidents, the selection of a safety system should be based on the analysis of the aforementioned risks. Commonly in the past, security systems have separated workspaces from robots and humans. An instance of this separation was reflected in the UNE-EN 755: 1996 standard. It stated that sensor systems should be incorporated to prevent people from entering a hazardous area, where the operational state of the robotic system could have caused dangers to workers. According to traditional standards, authorized personnel can only be inside the robot workspace if the robot is not in automatic mode.

The latest update of ISO 10218-1 and ISO 10218-2 provide details on collaborative work requirements and typologies of cooperation tasks. The first includes, for example, start-up controls, operation of the safety control system, motion braking, speed control, while the second includes, for example, manual guidance, interface window and cooperative workspace. The international standard ISO: 8373–2012, specifies the vocabulary used in relation to robots and robotic devices. New terms involved in the development of new collaborative tasks in industrial and nonindustrial environments, such as human-robot interaction and the service robot, are defined, as well as more established terms, such as robot and control system. The recent Technical Specification ISO/TS 15066: 2016, attempts to further specify human-robot collaboration by complementing the requirements and guidance set out in ISO 10218.

## **3.4 Rules and types of cooperation**

Iso EN 10218 for robots and robotic devices defines four basic types of HRC. For some types of cooperation, the use of special collaborative robots with integrated sensors is required. Other types of applications have a conventional robot with improved sensors and controls.

The supervised *stop* with safety rating is the simplest type of collaboration. There are applications in which the robot share's part or all its workspace with an operational team. If a worker appears in the robot's work area, the machine stops and remains on hold until the man leaves. In the shared area, the robot and the operator can get to work, but not at the same time.

During the operator's manual control process, the robot's load is compensated to maintain its position. The operator can move freely with the manipulator in space without exerting a force majeure. The human being comes into direct contact with the machine, but the movement is not initiated by the robot, only controlled by the operator. For safety reasons, the speed of the robot is reduced and updated with safety functions. The robot must be equipped with a measuring device to monitor the impact load. Some robots have sensitive elements (torque sensors) embedded

directly in the joints. For this type of collaboration, it is also possible to use a standard robot. The robot must be equipped with a sensor that can detect external loads. This sensor is placed on the robot's wrist between the output interface and the final effecter. Measure and evaluate the load and verify the robot's compliance.

With speed control and separation, the robot cell work area is divided into different areas. These areas are inspected with scanners or a vision system. In areas beyond the range of the manipulator, where the operator is not in contact with the robot, but could run the risk of a manipulated object falling, the robot slows down to a safe speed. If the robot's workspace is interrupted, the robot will stop. If these two areas are free, the robot can work with the maximum parameters. The speed and position of the robot are continuously monitored. A recommended application may be a workplace where the robot works with the maximum parameters, but the operator must enter the area at a certain time. For example, for logistical reasons, to place or remove the product.

Force and power limitation is a type of cooperation where special collaborative robots are needed. The movement parameters of the robots are controlled with high precision and even a small deviation from the actual position compared to the programmed one can be determined. Accurate encoders with high resolution allow the robot to control its speed and position with high precision. The forces and pairs are measured and evaluated with sensitive torque sensors in the robot joints, checking the electric current consumed in the actuators, measuring the reactions transmitted to the ground or implementing tactile sensors. Therefore, the robot is able to identify the impact on an obstacle, analyze it in a short time and react. The robot can brake after the collision and stop immediately, alternately moving in the opposite direction in the opposite direction to decrease the energy of the impact as much as possible.

#### **3.5 Efficiency in interaction**

The field of collaborative robot research is constantly evolving. There is no particular approach to increasing the efficiency of intelligent human-robot robotic systems. This is due to the complexity of ensuring a coordinated interaction between the two parties [12]. For this reason, adaptive control systems for the robot, intelligent human-robot interface, sensor systems and information processing algorithms, the basic elements of robotic and mechatronic systems, efficient forms of interaction of the robot with the external environment, bionic and biomedical technologies in robotic solutions, control of multi-agent robotic systems with secure and reliable communication, continues to be constantly developed.

**Figure 2** shows the difference between interactions and presence with robots. In collaborative robotics, the task or work objective is performed in the company of an operator or worker of the company. In an industrial process where tasks are automated, the machine is the one who performs the tasks individually or sharing objectives with other machines. Finally, manufacturing is done directly by people; this is because they are craftsmanship or they are only achievable manually, although somewhere in the process, robots can get involved and become collaborative robotics.

With the aim of identifying the factors of effectiveness of the implementation of robotic solutions according to the use cases in companies that have introduced robotics in their production processes. Based on the opinions of experts with experience and knowledge of the robotics market, the following factors were formed in descending order of importance in the article [12]:

**9**

**Figure 2.**

*Comparison of cobots, automated industry and manufacturing.*

*COBOTS in Industry 4.0: Safe and Efficient Interaction DOI: http://dx.doi.org/10.5772/intechopen.99540*

4.Elimination of dangerous operations.

the effectiveness of their direct contact [13].

consistent than those of a human operator.

However, in the modern trend of implementing collaborative robotic solutions in a shared workspace and in everyday human activities focuses on the person and

Collaborative robots successfully achieve their goal of reducing ergonomic risks and improving employee safety. In addition, important levels of productivity improvement were identified, and the collaborative robot managed to stabilize the behavior of the assembly station, since its performance and pace of work are more

5.Increase production flexibility.

3.Reduction of labor costs.


*COBOTS in Industry 4.0: Safe and Efficient Interaction DOI: http://dx.doi.org/10.5772/intechopen.99540*

3.Reduction of labor costs.

*Collaborative and Humanoid Robots*

place or remove the product.

**3.5 Efficiency in interaction**

descending order of importance in the article [12]:

1.Increased productivity.

2.Quality improvement.

directly in the joints. For this type of collaboration, it is also possible to use a standard robot. The robot must be equipped with a sensor that can detect external loads. This sensor is placed on the robot's wrist between the output interface and the final effecter. Measure and evaluate the load and verify the robot's compliance. With speed control and separation, the robot cell work area is divided into different areas. These areas are inspected with scanners or a vision system. In areas beyond the range of the manipulator, where the operator is not in contact with the robot, but could run the risk of a manipulated object falling, the robot slows down to a safe speed. If the robot's workspace is interrupted, the robot will stop. If these two areas are free, the robot can work with the maximum parameters. The speed and position of the robot are continuously monitored. A recommended application may be a workplace where the robot works with the maximum parameters, but the operator must enter the area at a certain time. For example, for logistical reasons, to

Force and power limitation is a type of cooperation where special collaborative robots are needed. The movement parameters of the robots are controlled with high precision and even a small deviation from the actual position compared to the programmed one can be determined. Accurate encoders with high resolution allow the robot to control its speed and position with high precision. The forces and pairs are measured and evaluated with sensitive torque sensors in the robot joints, checking the electric current consumed in the actuators, measuring the reactions transmitted to the ground or implementing tactile sensors. Therefore, the robot is able to identify the impact on an obstacle, analyze it in a short time and react. The robot can brake after the collision and stop immediately, alternately moving in the opposite direction in the opposite direction to decrease the energy of the impact as much as possible.

The field of collaborative robot research is constantly evolving. There is no particular approach to increasing the efficiency of intelligent human-robot robotic systems. This is due to the complexity of ensuring a coordinated interaction between the two parties [12]. For this reason, adaptive control systems for the robot, intelligent human-robot interface, sensor systems and information processing algorithms, the basic elements of robotic and mechatronic systems, efficient forms of interaction of the robot with the external environment, bionic and biomedical technologies in robotic solutions, control of multi-agent robotic systems with secure and reliable communication, continues to be constantly developed. **Figure 2** shows the difference between interactions and presence with robots. In collaborative robotics, the task or work objective is performed in the company of an operator or worker of the company. In an industrial process where tasks are automated, the machine is the one who performs the tasks individually or sharing objectives with other machines. Finally, manufacturing is done directly by people; this is because they are craftsmanship or they are only achievable manually, although somewhere in the process, robots can get involved and become collaborative robotics. With the aim of identifying the factors of effectiveness of the implementation of robotic solutions according to the use cases in companies that have introduced robotics in their production processes. Based on the opinions of experts with experience and knowledge of the robotics market, the following factors were formed in

**8**


However, in the modern trend of implementing collaborative robotic solutions in a shared workspace and in everyday human activities focuses on the person and the effectiveness of their direct contact [13].

Collaborative robots successfully achieve their goal of reducing ergonomic risks and improving employee safety. In addition, important levels of productivity improvement were identified, and the collaborative robot managed to stabilize the behavior of the assembly station, since its performance and pace of work are more consistent than those of a human operator.

**Figure 2.** *Comparison of cobots, automated industry and manufacturing.*

