期刊
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
卷 71, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2021.102140
关键词
Digital twin; Modeling; Flexibility; Robot; Calibration; Planning
资金
- National Research, Development and Innovation Fund of Hungary [ED_18220180006]
- Ministry for Innovation and Technology
- National Research, Development and Innovation Office within National Lab for Autonomous Systems
This paper proposes a generalized development methodology for flexible robotic pick-and-place workcells based on the concept of Digital Twin, aiming to speed up the overall commissioning process and reduce the amount of work in the physical workcell.
Together with the trends of mass personalization, flexible robotic applications become more and more popular. Although conventional robotic automation of workpiece manipulation seems to be solved, advanced tasks still need great amount of effort to be reached. In most cases, on-site robot programming methods, which are intuitive and easy to use, are not applicable in flexible scenarios. On the other hand, the application of offline programming methods requires careful modeling and planning. Consequently, this paper proposes a generalized development methodology for flexible robotic pick-and-place workcells, in order to provide guidance and thus facilitate the development process. The methodology is based on the Digital Twin (DT) concept, which allows the iterative refinement of the workcell both in the digital and in the physical space. The goal is to speed up the overall commissioning (or reconfiguration) process and reduce the amount of work in the physical workcell. This can be achieved by digitizing and automating the development, and maintaining sufficient twin closeness. With that, the operation of the digital model can be accurately realized in the physical workcell. The methodology is presented through a semi-structured pick-and-place task, realized in an experimental robotic workcell together with a reconfiguration scenario.
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