**Abstract**

The essential role of robot simulation for industrial robots, in particular the collaborative robots is presented in this chapter. We begin by discussing the robot utilization in the industry which includes mobile robots, arm robots, and humanoid robots. The author emphasizes the application of collaborative robots in regard to industry revolution 4.0. Then, we present how the collaborative robot utilization in the industry can be achieved through computer simulation by means of virtual robots in simulated environments. The robot simulation presented here is based on open dynamic engine (ODE) using anyKode Marilou. The author surveys on the use of dynamic simulations in application of collaborative robots toward industry 4.0. Due to the challenging problems which related to humanoid robots for collaborative robots and behavior in human-robot collaboration, the use of robot simulation may open the opportunities in collaborative robotic research in the context of industry 4.0. As developing a real collaborative robot is still expensive and time-consuming, while accessing commercial collaborative robots is relatively limited; thus, the development of robot simulation can be an option for collaborative robotic research and education purposes.

**Keywords:** collaborative robot, human-robot collaboration, human-robot interaction, industry 4.0, humanoid robots, robot simulation, anyKode Marilou simulation

### **1. Introduction**

Computer simulation has become an important tool in robotic research and development [1]. It provides a modeling and evaluation tool for complex systems that are analytically difficult to deal with. Frequently, a robot is consisted of links, joints, sensors, actuators, controller, and other structural elements which are integrated to form a whole system [2]. Indeed, developing a real robot is very expensive and time-consuming and requires multidiscipline skills. Nevertheless, a rapid prototyping environment for modeling, programming, and simulating robot is provided in robotics simulation software [3]. In computer simulation, developers are able design a robot model and evaluate the model such that it fulfills the designation requirements. This includes to identify the unexpected problems that may rise before the physical robot is realized. To some extent, computer simulation can be used to perform experiment and verify the trajectory planning or the efficacy of implemented control algorithm. On the other hand,

for example, in robot painting, computer simulation can be effectively utilized to solve robot programming complexity in design path trajectory by programming off-line instead of performing a lead teach principle [4]. Despite these advantages, computer simulation may have drawbacks, for instance, in computational overhead [5] and loss of flexibility because the simulation is developed for a specific field of application only [6].

In the past, computer simulation in robotics was conducted numerically with complex computation. The simulation is heavily relying on mathematical model where the system model is usually assumed to be in ideal case or in predefined conditions. The results obtained from simulation (i.e., usually represented in numbers or computer graphic display) require further interpretation or analysis. Some of these outdated simulation examples can be found in [7–9]. However, with advanced existing technologies, computer simulation has been evolved and tends to become more realistic and attractive with 3D visualization. The comparison study between several robot simulators in different fields of robotics from kinematics and dynamics to industrial applications is discussed in [1]. These simulations can be visually observed, and they have features which arouse interest for novice people, engineers, and scientists. Most of the robotic simulations are equipped with physics engines (ODE, Bullet, Havok, or PhysX) for real-time collision and dynamics of rigid bodies. One of the examples is the iCub humanoid robot where ODE physics engine is employed [10]. Nevertheless, different simulation platforms using MATLAB/Simulink can also be used to simulate robots [1]. In addition, there is a robotic simulation software named COSIMIR Robotics that used to simulate Mitsubishi industrial robots. It provides virtual simulation environment for robotics and automation, and it is very useful for education in mechatronics as given in [11]. In COSIMIR Robotics software, users do not need to develop a robot model from scratch—as opposed to other typical robotic simulation studios—because the industrial robot models are already provided in the list.

Digitization of manufacturing sector is the next phase of industrialization with the so-called industry revolution 4.0. It was first introduced publicly at Hannover Fair in 2011. It is the convergence of industrial production and information and communication technologies [12]. The paradigm of "I4.0"—for short—is to increase productivity and efficiency with the help of new technologies. However, this term is broader, and so it is difficult to grasp by academia and practitioners because the scope covers the entirety of industrial manufacturing [13]. At present, industry 4.0 is still on the conceptual formation stage, and several countries have set up industry 4.0 standards with different names, as it is called "i40," "IoT," or "Made in China 2025," that is, well known in Germany, the USA, and China, respectively [14].

Industry 4.0 as the new phase of industrial revolution has developed gradually from embedded system to the cyber-physical system (CPS) [14]. CPS is one of the key components of industry 4.0 [15, 16], and it is basically an embedded system that exchanges data in an intelligent network which facilitate smart production [17]. The CPS term was coined around 2006 before the term "industry 4.0" was publicly introduced in 2011. This new industrial paradigm embraces the emerging technologies in robotics where the new approach is required to have some kind of self-organization and to be reconfigurable, adaptable, and flexible. For example, flexible interaction in robotics can be reflected by the development of augment reality (AR) application that augments an industrial robot to perform several tasks in maintenance or cooperative work with humans and robots [18]. Another example is the work toward multi-robot systems with improved energy efficiency, high realtime performance, and lower cost which can be achieved by integrating multi-robot

*Computer Simulation of Human-Robot Collaboration in the Context of Industry Revolution 4.0 DOI: http://dx.doi.org/10.5772/intechopen.88335*

**Figure 1.** *Technologies associated with industry 4.0 [22].*

systems with cloud computing and any other emerging technologies [19] (e.g., 5G wireless technology). Thus, the robotics technology is one of the essential drivers for industry 4.0. This technology and several other relevant technologies that associated with industry 4.0 are given in **Figure 1**.

In the last few decades, industrial robots could support human workers with complex and high-precision, repetitive, and dangerous tasks. Some of these repetitive tasks, for example, are paint and sealant applications, welding, assembly, material handling, inspection, and so on. However, this robot was not safe for humans to work side by side. Thus, the robots are usually placed in a cage or in an area where humans must stay away from them. In the era of industry 4.0, the popular robots are intelligent, able to collaborate, flexible, mobile, and connected. Several examples of such robots are Bosch APAS assistant, KUKA LBR iiwa, ABB YuMi, FANUC CR-35iA, MRK Systeme KR 5 SI, and Universal Robots UR5. The importance of collaborative robots is to increase the productivity and efficiency (as demanded in new industrial paradigm) when they work side by side with humans [20]. The deployment of these collaborative robots in the new industrialization era raises the potential for complex human-robot interaction (HRI) to create highly flexible processes by mean of symbiotic human-robot collaborative process [21].

The emerging technologies in robotics have enormous effect on education of people. However, only qualified and highly educated employee will be able to control such technologies, so collaboration between the industry and university should be more intense [23]. For example, a study on the usability and acceptance of an industrial prototype in relation to collaborative robots with humans in [24] has suggested the urgency of adaptation of assistive robot systems. It is well known that the collaborative robots (cobots) are very expensive and they are not easily accessible by common students and researchers, except for those who work in leading research institution or industry. To tackle this problem, developing a robot simulation and using it as a testbed is one of the solutions. With this regard, robot simulation is required to have some similar sensors and actuators as those of existing robots. In current robot simulation studio, those features are embedded in many robotic simulations, that is, utilizing open dynamic engine (ODE). In addition, they are quite popular because of their reliability and performance in collision detection system [25]. Some examples of these robot simulations that are quite popular are, namely, Marilou [26], Gazebo [27], and Webots [28, 29].

This chapter discusses the utilization of robots in the industry which comply with industry 4.0 paradigm. More specifically, we elaborate the new emerging industrial robotics that is so-called collaborative robots. The collaborative robots have made humans and robots work side by side without a safety cage. The application of collaborative robots, for example, in automobile industries, has contributed to smart and intelligent manufacturing which is aligned with industry 4.0 concept. This new industrial revolution's paradigm is still in progress with some challenges. However, there are several issues with regard collaborative robots as well as its implementation in industry. In a case study, we elaborate a collaborative robot named Baxter robot as a role model of robot application that evolves toward industry 4.0. With the advanced computer technologies, computer simulation has become an essential tool in robot development. Research in the fields of robotics and its control system can be validated and analyzed using robot simulation. Thus, the computer of robotic simulations has given new opportunities with regard the new trends of collaborative robots.
