====== Physical Human-Robot Interaction and Cobots ======

We will work with the [[https://robodk.com/|RoboDK]] program that is used for simulation of industrial robots.

<note>You can install a trial version on your own computer (30 days of full version). However, there are full versions installed on the computers in the lab.</note>

RoboDK is already installed in our Docker image. Check [[courses:hro:tutorials:0dockertutorial#hri|Docker tutorial]] for more details.
==== Goals ====
This task should teach you:
  * Simulate an industrial robot
  * Evaluate the safety of a given application
  * Mitigate risks of an application

===== RoboDK introduction and Safe HRI 2022/04/19 =====

Example files: {{ :courses:hro:tutorials:library_examples.zip |library_examples.zip}}

Tasks:
  * Make sure you have a running RoboDK version (see above for possibilities).
  * Work with RoboDK and its controls (see [[https://robodk.com/doc/en/Basic-Guide.html|guides]]), make sure you know how to:
    * Change the simulation speed
    * Control the view
    * Launch the simulation
    * Change/add a robot program
    * Add objects to the environment
    * Detect collisions
    * Read out information about the robot (speed limit, angles, reach, ...)
  * Test these skills on an example from RoboDK, e.g., ''Example-06.e-Conveyor with 2 UR robots.rdk''

Discussion:
  * The different modes of collaboration (PFL, SSM, HG):
    * What are the benefits of each mode?
    * What are their limitations?
    * Can these modes be applied to all robots or specific robots are needed?

Optional (preparation for next class):
  * Familiarize ourselves with the Risk Assessment document
    * The overall {{ :courses:hro:tutorials:risk_analysis_humanoids_class_eng_.pdf |methodology}}
    * The {{ :courses:hro:tutorials:risk_assessment.ods |fill-out sheet}}
===== Safe collaboration 2022/04/26 =====

Tasks:
  * Investigate the scenario ''Example-06.f-Pick and Place CNC and Dual RobotiQ Gripper-UR10.rdk'' following the {{ :courses:hro:tutorials:hw:risk_analysis_humanoids_task_eng_.pdf | instructions}}
  * Apply the {{ :courses:hro:tutorials:risk_analysis_humanoids_class_eng_.pdf |methodology}} document on the task
  * Clearly identify risks and suggest methods how to mitigate these risks
  * **Submit a PDF** of the sheet ({{ :courses:hro:tutorials:risk_assessment.ods |ODS}} or {{ :courses:hro:tutorials:risk_assessment.xlsx |XLSX}} or {{ :courses:hro:tutorials:risk_analysis-table_eng_.zip |TeX}}) documenting your risk analysis and risk mitigation, use the **all** relevant sheets from the workbook, not just one sheet. Do not forget the **commentary section** to provide supporting arguments!