Smart hardware integration with advanced robot programming technologies for efficient reconfiguration of robot workcells

•Modular and largely passive hardware components aimed towards cost-effective, autonomous workcell reconfiguration.•A software backbone based on ROS, which provides modularity of all software components.•Fast programming of assembly tasks through kinesthetic guidance and script-based state machine d...

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Vydáno v:Robotics and computer-integrated manufacturing Ročník 66; s. 101979
Hlavní autoři: Gašpar, Timotej, Deniša, Miha, Radanovič, Primož, Ridge, Barry, Savarimuthu, T. Rajeeth, Kramberger, Aljaž, Priggemeyer, Marc, Roßmann, Jürgen, Wörgötter, Florentin, Ivanovska, Tatyana, Parizi, Shahab, Gosar, Žiga, Kovač, Igor, Ude, Aleš
Médium: Journal Article
Jazyk:angličtina
Vydáno: Oxford Elsevier Ltd 01.12.2020
Elsevier BV
Témata:
Automation
Industry 4.0
Manufacturing
Passive reconfigurable hardware
Programming by demonstration
Reconfigurable hardware
Reconfigurable manufacturing systems
Reconfiguration
Robots
ROS
Reconfigurable manufacturing systems
Industry 4.0
Programming by demonstration
Passive reconfigurable hardware
ROS
ISSN:0736-5845, 1879-2537
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Popis
Shrnutí:•Modular and largely passive hardware components aimed towards cost-effective, autonomous workcell reconfiguration.•A software backbone based on ROS, which provides modularity of all software components.•Fast programming of assembly tasks through kinesthetic guidance and script-based state machine description methods supported by visual programming interfaces.•Support for quick workcell reconfiguration by manipulating and exchanging the available hardware components, facilitated by a digital twin. The manufacturing industry is seeing an increase in demand for more custom-made, low-volume production. This type of production is rarely automated and is to a large extent still performed manually. To keep up with the competition and market demands, manufacturers will have to undertake the effort to automate such manufacturing processes. However, automating low-volume production is no small feat as the solution should be adaptable and future proof to unexpected changes in customers’ demands. In this paper, we propose a reconfigurable robot workcell aimed at automating low-volume production. The developed workcell can adapt to the changes in manufacturing processes by employing a number of passive, reconfigurable hardware elements, supported by the ROS-based, modular control software. To further facilitate and expedite the setup process, we integrated intuitive, user-friendly robot programming methods with the available hardware. The system was evaluated by implementing five production processes from different manufacturing industries.
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ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2020.101979