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Serviceorientierte Automatisierung von Roboterzellen


Serviceorientierte Automatisierung von Roboterzellen: Modularität und Wiederverwendbarkeit von Software in der Robotik

Given an appropriate tool, industrial robots are able to perform flexible manufacturing tasks. However, robots are rarely used, if it comes to small batch production. One major reason is the high cost of programming that contribute the largest share of total cost of a robotic system. Furthermore, these costs recur for each adaptation to a high extent. The reuse of software for programming a robot cell is the key requirement to reduce development costs. Accordingly, the aim must be that software for robot cells can be put together from modular and reusable components. A comprehensive approach is necessary for both the modelling and the implementation of modular software to create flexible robot cells.

The main result of this thesis is a novel and innovative approach to service-oriented automation of robot cells. In particular, a comprehensive modelling approach using SysML is introduced in order to structure the automation software and to identify relevant services. The services focus on the handling and manufacturing tasks. Subsequently, these services can be orchestrated to form the automation process. According to the ideas of Industry 4.0, the automation software uses an "intelligent product" which carries all the knowledge of its manufacturing process. The automation services rely on an object-oriented model that describes the products, robots and tools as well as their geometric and semantic relationships. Using this knowledge makes it possible to create generic programs that are applicable universally. Accordingly, the automation software can be assembled from reusable services. The approach was evaluated successfully using a cooperative assembly application.

published 02.12.2015 in: Augsburg Publikationsserver OPUS der Universitätsbibliothek Augsburg


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