Integration of a Skill-based Collaborative Mobile Robot in a Smart Cyber-Physical Environment

Rasmus Eckholdt Andersen, Emil Blixt Hansen, David Cerny, Steffen Madsen, Biranavan Pulendralingam, Simon Bøgh, Dimitrios Chrysostomou

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

7 Citationer (Scopus)
554 Downloads (Pure)

Resumé

The goal of this paper is to investigate the benefits of integrating collaborative robotic manipulators with autonomous mobile platforms for flexible part feeding processes in an Industry 4.0 production facility. The paper presents Little Helper 6 (LH6), consisting of a MiR100, UR5, a Robotiq 3-Finger Gripper and a task level software framework, called Skill Based System (SBS). The preliminary experiments performed with LH6, demonstrate that the capabilities of skill-based programming, 3D QR based calibration, part feeding, mapping and dynamic collision avoidance are successfully executed and strategies for further expansion of the operational capabilities of the system are discussed.
OriginalsprogEngelsk
TidsskriftProcedia Manufacturing
Vol/bind11
Sider (fra-til)114-123
Antal sider9
ISSN2351-9789
DOI
StatusUdgivet - 19 sep. 2017
BegivenhedFAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing: Intelligent Manufacturing and Engineering Methods for Industry 4.0 - Complesso San Geminiano, University of Modena and Reggio Emilia, Modena, Italien
Varighed: 27 jun. 201730 jun. 2017
Konferencens nummer: 27
http://www.faim2017.org/

Konference

KonferenceFAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing
Nummer27
LokationComplesso San Geminiano, University of Modena and Reggio Emilia
LandItalien
ByModena
Periode27/06/201730/06/2017
Internetadresse

Fingerprint

Mobile robots
Grippers
Collision avoidance
Manipulators
Robotics
Calibration
Industry
Experiments

Citer dette

Andersen, Rasmus Eckholdt ; Hansen, Emil Blixt ; Cerny, David ; Madsen, Steffen ; Pulendralingam, Biranavan ; Bøgh, Simon ; Chrysostomou, Dimitrios. / Integration of a Skill-based Collaborative Mobile Robot in a Smart Cyber-Physical Environment. I: Procedia Manufacturing. 2017 ; Bind 11. s. 114-123.
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abstract = "The goal of this paper is to investigate the benefits of integrating collaborative robotic manipulators with autonomous mobile platforms for flexible part feeding processes in an Industry 4.0 production facility. The paper presents Little Helper 6 (LH6), consisting of a MiR100, UR5, a Robotiq 3-Finger Gripper and a task level software framework, called Skill Based System (SBS). The preliminary experiments performed with LH6, demonstrate that the capabilities of skill-based programming, 3D QR based calibration, part feeding, mapping and dynamic collision avoidance are successfully executed and strategies for further expansion of the operational capabilities of the system are discussed.",
keywords = "Collaborative robots, smart production, Cyber-Physical System, industry 4.0, Autonomous industrial mobile manipulation, Little Helper",
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Integration of a Skill-based Collaborative Mobile Robot in a Smart Cyber-Physical Environment. / Andersen, Rasmus Eckholdt ; Hansen, Emil Blixt; Cerny, David; Madsen, Steffen; Pulendralingam, Biranavan; Bøgh, Simon; Chrysostomou, Dimitrios.

I: Procedia Manufacturing, Bind 11, 19.09.2017, s. 114-123.

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

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AU - Pulendralingam, Biranavan

AU - Bøgh, Simon

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