Monitoring of co-operative assembly tasks: functional, safety and quality aspects

In this paper we present aspects that should be considered when designing a co-operative robot control for assembling and handling of heavy parts. 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 control concept was developed with a software architecture considering functional, safety and quality aspects.