A software platform to develop and execute kitting tasks on industrial cyber-physical systems

Publikation: Bog/antologi/afhandling/rapportPh.d.-afhandlingForskning

Resumé

The current material handling infrastructure associated with manufacturing and assembly operations still register a great presence of human work for highly repetitive tasks. A major contributing factor for the low automation is that current manufacturing robots have little or no understanding of the world around them and no capability to dynamically change their actions if the environment or task changes. This restricts them to operate in highly constrained environments and makes it difficult and expensive to change the robot operation from one task to another.

In this dissertation we investigate the use of autonomous mobile manipulators to manage the industrial kitting operation, the task of collecting parts from the warehouse into kits for the production line. We discuss in particular the architectural and implementation aspects of a skill-based control platform that enables the mobile manipulators to accomplish their task autonomously and with a dynamic adaptation to the context.

We show how the platform supports skill programming and configuration, maintains a world model with all relevant information to make autonomous task planning, interfaces with the Manufacturing Execution System (MES) to receive kitting orders and finally executes and monitors the skills to accomplish the orders.

The platform is the foundation and guideline of a concept that in the future could completely revolutionize the robot industries, similarly to how iOS and android revolutionized the industry of smart phones. A platform where skills, similarly to computer or smartphone applications, can be installed and removed from heterogeneous robots with few elementary steps.
OriginalsprogEngelsk
Antal sider158
StatusUdgivet - 2017
NavnPh.d.-serien for Det Ingeniør- og Naturvidenskabelige Fakultet, Aalborg Universitet
ISSN2446-1636

Fingerprint

Robots
Manipulators
Smartphones
Warehouses
Materials handling
Industry
Automation
Planning
Cyber Physical System

Bibliografisk note

Afhandling ikke publiceret.

Citer dette

Rovida, F. (2017). A software platform to develop and execute kitting tasks on industrial cyber-physical systems. Ph.d.-serien for Det Ingeniør- og Naturvidenskabelige Fakultet, Aalborg Universitet
Rovida, Francesco. / A software platform to develop and execute kitting tasks on industrial cyber-physical systems. 2017. 158 s. (Ph.d.-serien for Det Ingeniør- og Naturvidenskabelige Fakultet, Aalborg Universitet).
@phdthesis{e3f850cc1e2f4b55a77d7c5c396e71af,
title = "A software platform to develop and execute kitting tasks on industrial cyber-physical systems",
abstract = "The current material handling infrastructure associated with manufacturing and assembly operations still register a great presence of human work for highly repetitive tasks. A major contributing factor for the low automation is that current manufacturing robots have little or no understanding of the world around them and no capability to dynamically change their actions if the environment or task changes. This restricts them to operate in highly constrained environments and makes it difficult and expensive to change the robot operation from one task to another.In this dissertation we investigate the use of autonomous mobile manipulators to manage the industrial kitting operation, the task of collecting parts from the warehouse into kits for the production line. We discuss in particular the architectural and implementation aspects of a skill-based control platform that enables the mobile manipulators to accomplish their task autonomously and with a dynamic adaptation to the context. We show how the platform supports skill programming and configuration, maintains a world model with all relevant information to make autonomous task planning, interfaces with the Manufacturing Execution System (MES) to receive kitting orders and finally executes and monitors the skills to accomplish the orders.The platform is the foundation and guideline of a concept that in the future could completely revolutionize the robot industries, similarly to how iOS and android revolutionized the industry of smart phones. A platform where skills, similarly to computer or smartphone applications, can be installed and removed from heterogeneous robots with few elementary steps.",
keywords = "task planning, knowledge representation and reasoning, robot control architecture, skill-based programming, kitting, industrial mobile manipulators",
author = "Francesco Rovida",
note = "Dissertation not published",
year = "2017",
language = "English",

}

Rovida, F 2017, A software platform to develop and execute kitting tasks on industrial cyber-physical systems. Ph.d.-serien for Det Ingeniør- og Naturvidenskabelige Fakultet, Aalborg Universitet.

A software platform to develop and execute kitting tasks on industrial cyber-physical systems. / Rovida, Francesco.

2017. 158 s. (Ph.d.-serien for Det Ingeniør- og Naturvidenskabelige Fakultet, Aalborg Universitet).

Publikation: Bog/antologi/afhandling/rapportPh.d.-afhandlingForskning

TY - BOOK

T1 - A software platform to develop and execute kitting tasks on industrial cyber-physical systems

AU - Rovida, Francesco

N1 - Dissertation not published

PY - 2017

Y1 - 2017

N2 - The current material handling infrastructure associated with manufacturing and assembly operations still register a great presence of human work for highly repetitive tasks. A major contributing factor for the low automation is that current manufacturing robots have little or no understanding of the world around them and no capability to dynamically change their actions if the environment or task changes. This restricts them to operate in highly constrained environments and makes it difficult and expensive to change the robot operation from one task to another.In this dissertation we investigate the use of autonomous mobile manipulators to manage the industrial kitting operation, the task of collecting parts from the warehouse into kits for the production line. We discuss in particular the architectural and implementation aspects of a skill-based control platform that enables the mobile manipulators to accomplish their task autonomously and with a dynamic adaptation to the context. We show how the platform supports skill programming and configuration, maintains a world model with all relevant information to make autonomous task planning, interfaces with the Manufacturing Execution System (MES) to receive kitting orders and finally executes and monitors the skills to accomplish the orders.The platform is the foundation and guideline of a concept that in the future could completely revolutionize the robot industries, similarly to how iOS and android revolutionized the industry of smart phones. A platform where skills, similarly to computer or smartphone applications, can be installed and removed from heterogeneous robots with few elementary steps.

AB - The current material handling infrastructure associated with manufacturing and assembly operations still register a great presence of human work for highly repetitive tasks. A major contributing factor for the low automation is that current manufacturing robots have little or no understanding of the world around them and no capability to dynamically change their actions if the environment or task changes. This restricts them to operate in highly constrained environments and makes it difficult and expensive to change the robot operation from one task to another.In this dissertation we investigate the use of autonomous mobile manipulators to manage the industrial kitting operation, the task of collecting parts from the warehouse into kits for the production line. We discuss in particular the architectural and implementation aspects of a skill-based control platform that enables the mobile manipulators to accomplish their task autonomously and with a dynamic adaptation to the context. We show how the platform supports skill programming and configuration, maintains a world model with all relevant information to make autonomous task planning, interfaces with the Manufacturing Execution System (MES) to receive kitting orders and finally executes and monitors the skills to accomplish the orders.The platform is the foundation and guideline of a concept that in the future could completely revolutionize the robot industries, similarly to how iOS and android revolutionized the industry of smart phones. A platform where skills, similarly to computer or smartphone applications, can be installed and removed from heterogeneous robots with few elementary steps.

KW - task planning

KW - knowledge representation and reasoning

KW - robot control architecture

KW - skill-based programming

KW - kitting

KW - industrial mobile manipulators

M3 - Ph.D. thesis

BT - A software platform to develop and execute kitting tasks on industrial cyber-physical systems

ER -

Rovida F. A software platform to develop and execute kitting tasks on industrial cyber-physical systems. 2017. 158 s. (Ph.d.-serien for Det Ingeniør- og Naturvidenskabelige Fakultet, Aalborg Universitet).