Details
| Original language | English |
|---|---|
| Pages (from-to) | 909-914 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 58 |
| Issue number | 27 |
| Early online date | 27 Nov 2024 |
| Publication status | Published - 2024 |
| Event | 18th IFAC Workshop on Time Delay Systems, TDS 2024 - Udine, Italy Duration: 2 Oct 2023 → 5 Oct 2023 |
Abstract
Today's manufacturing is progressively challenged by high product variant turnovers, low standardization, and small lot sizes. These characteristics can also be seen in the growing sector of manufacturing of optical systems, in which the micro-assembly of the components is currently the main cost driver. In the sector of industrial robotics, research has addressed these challenges by developing rapidly reconfigurable robotic cells. Typically, these solutions are based on high-level task programming and a hardware and software-agnostic virtualised machine control interface, which is often facilitated by the open-source Robot Operating System (ROS) platform. While research in the domain of micro-assembly has also introduced virtual programming to assembly systems, the focus has rather been on assisting experienced engineers with the implementation of processes than on enabling rapid assembly of prototypes by inexperienced personnel. To bridge this gap, we are working on a holistic framework for autonomous process implementation that is specifically focused on the unique boundary conditions of micro-assembly. As one of the initial steps, in this paper, we present a case study of the implementation of ROS2-based control of an industrial micro-assembly robot. Furthermore, we detail on the advantages, prospects, and limitations, our design choices encompass.
Keywords
- autonomous robotics programming, micro-assembly, reconfigurable assembly cells, ROS2
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC-PapersOnLine, Vol. 58, No. 27, 2024, p. 909-914.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - ROS-Based Control of an Industrial Micro-Assembly Robot
AU - Terei, Niklas
AU - Wiemann, Rolf
AU - Raatz, Annika
N1 - Publisher Copyright: © 2024 The Authors.
PY - 2024
Y1 - 2024
N2 - Today's manufacturing is progressively challenged by high product variant turnovers, low standardization, and small lot sizes. These characteristics can also be seen in the growing sector of manufacturing of optical systems, in which the micro-assembly of the components is currently the main cost driver. In the sector of industrial robotics, research has addressed these challenges by developing rapidly reconfigurable robotic cells. Typically, these solutions are based on high-level task programming and a hardware and software-agnostic virtualised machine control interface, which is often facilitated by the open-source Robot Operating System (ROS) platform. While research in the domain of micro-assembly has also introduced virtual programming to assembly systems, the focus has rather been on assisting experienced engineers with the implementation of processes than on enabling rapid assembly of prototypes by inexperienced personnel. To bridge this gap, we are working on a holistic framework for autonomous process implementation that is specifically focused on the unique boundary conditions of micro-assembly. As one of the initial steps, in this paper, we present a case study of the implementation of ROS2-based control of an industrial micro-assembly robot. Furthermore, we detail on the advantages, prospects, and limitations, our design choices encompass.
AB - Today's manufacturing is progressively challenged by high product variant turnovers, low standardization, and small lot sizes. These characteristics can also be seen in the growing sector of manufacturing of optical systems, in which the micro-assembly of the components is currently the main cost driver. In the sector of industrial robotics, research has addressed these challenges by developing rapidly reconfigurable robotic cells. Typically, these solutions are based on high-level task programming and a hardware and software-agnostic virtualised machine control interface, which is often facilitated by the open-source Robot Operating System (ROS) platform. While research in the domain of micro-assembly has also introduced virtual programming to assembly systems, the focus has rather been on assisting experienced engineers with the implementation of processes than on enabling rapid assembly of prototypes by inexperienced personnel. To bridge this gap, we are working on a holistic framework for autonomous process implementation that is specifically focused on the unique boundary conditions of micro-assembly. As one of the initial steps, in this paper, we present a case study of the implementation of ROS2-based control of an industrial micro-assembly robot. Furthermore, we detail on the advantages, prospects, and limitations, our design choices encompass.
KW - autonomous robotics programming
KW - micro-assembly
KW - reconfigurable assembly cells
KW - ROS2
UR - http://www.scopus.com/inward/record.url?scp=85213019300&partnerID=8YFLogxK
U2 - 10.1016/j.procir.2024.10.184
DO - 10.1016/j.procir.2024.10.184
M3 - Conference article
AN - SCOPUS:85213019300
VL - 58
SP - 909
EP - 914
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8971
IS - 27
T2 - 18th IFAC Workshop on Time Delay Systems, TDS 2024
Y2 - 2 October 2023 through 5 October 2023
ER -