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

doi:10.1016/j.promfg.2017.07.209

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

Research output: Contribution to journal › Conference article in Journal › Research › peer-review

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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.

Original language	English
Journal	Procedia Manufacturing
Volume	11
Pages (from-to)	114-123
Number of pages	9
ISSN	2351-9789
DOIs	https://doi.org/10.1016/j.promfg.2017.07.209
Publication status	Published - 19 Sept 2017
Event	FAIM 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, Italy Duration: 27 Jun 2017 → 30 Jun 2017 Conference number: 27 http://www.faim2017.org/

Conference

Conference	FAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing
Number	27
Location	Complesso San Geminiano, University of Modena and Reggio Emilia
Country/Territory	Italy
City	Modena
Period	27/06/2017 → 30/06/2017
Internet address	http://www.faim2017.org/

Keywords

Collaborative robots
smart production
Cyber-Physical System
industry 4.0
Autonomous industrial mobile manipulation
Little Helper

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10.1016/j.promfg.2017.07.209Licence: CC BY-NC-ND 4.0

OpenAccessArticleFinal published version, 16.5 MBLicence: CC BY-NC-ND 4.0

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Cite this

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title = "Integration of a Skill-based Collaborative Mobile Robot in a Smart Cyber-Physical Environment",

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",

author = "Andersen, {Rasmus Eckholdt} and Hansen, {Emil Blixt} and David Cerny and Steffen Madsen and Biranavan Pulendralingam and Simon B{\o}gh and Dimitrios Chrysostomou",

year = "2017",

month = sep,

day = "19",

doi = "10.1016/j.promfg.2017.07.209",

language = "English",

volume = "11",

pages = "114--123",

journal = "Procedia Manufacturing",

issn = "2351-9789",

publisher = "Elsevier",

note = "FAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing : Intelligent Manufacturing and Engineering Methods for Industry 4.0, FAIM2017 ; Conference date: 27-06-2017 Through 30-06-2017",

url = "http://www.faim2017.org/",

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TY - GEN

T1 - Integration of a Skill-based Collaborative Mobile Robot in a Smart Cyber-Physical Environment

AU - Andersen, Rasmus Eckholdt

AU - Hansen, Emil Blixt

AU - Cerny, David

AU - Madsen, Steffen

AU - Pulendralingam, Biranavan

AU - Bøgh, Simon

AU - Chrysostomou, Dimitrios

N1 - Conference code: 27

PY - 2017/9/19

Y1 - 2017/9/19

N2 - 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.

AB - 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.

KW - Collaborative robots

KW - smart production

KW - Cyber-Physical System

KW - industry 4.0

KW - Autonomous industrial mobile manipulation

KW - Little Helper

U2 - 10.1016/j.promfg.2017.07.209

DO - 10.1016/j.promfg.2017.07.209

M3 - Conference article in Journal

SN - 2351-9789

VL - 11

SP - 114

EP - 123

JO - Procedia Manufacturing

JF - Procedia Manufacturing

T2 - FAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing

Y2 - 27 June 2017 through 30 June 2017

ER -

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

Abstract

Conference

Keywords

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