Visual programming of a human-machine interface for a multi-robot support system

When robots are used as a support tool for the completion of tasks in collaboration with humans, the interaction between the physical system and the digital world assumes crucial importance. The real system is programmed using digital tools, so the implementation of a Digital Twin that includes accurate models of the involved components can simplify the control of the hardware devices. In this paper it is presented the creation and integration of a Human-Machine Interface (HMI) in a workcell used to assist an operator in the process of assembly and disassembly heavy injection moulds for maintenance purposes. The physical work-cell includes an industrial and a collaborative KUKA robots that are modelled as Digital Twins in simulation. The programming of the robots is simplified using a Visual Programming interface that contains connected functional blocks called SkillBlocks. The HMI, called Operator Device, is a touchscreen interface that is modeled in the Visual Programming environment as a SkillBlock, making it possible to easily integrate with the robotic system and program it according to the required task. An experimental assembly task is demonstrated to show the functionalities and the advantages of using Digital Twins of physical components in a Visual Programming environment. The HMI, called Operator Device, is a touchscreen interface that is modeled in the Visual Programming environment as a SkillBlock, making it possible to easily integrate with the robotic system and program it according to the required task. An experimental assembly task is demonstrated to show the functionalities and the advantages of using Digital Twins of physical components in a Visual Programming environment.