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 journalConference article in JournalResearchpeer-review

7 Citations (Scopus)
554 Downloads (Pure)

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 languageEnglish
JournalProcedia Manufacturing
Volume11
Pages (from-to)114-123
Number of pages9
ISSN2351-9789
DOIs
Publication statusPublished - 19 Sep 2017
EventFAIM 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 201730 Jun 2017
Conference number: 27
http://www.faim2017.org/

Conference

ConferenceFAIM 2017 - 27th International Conference on Flexible Automation and Intelligent Manufacturing
Number27
LocationComplesso San Geminiano, University of Modena and Reggio Emilia
CountryItaly
CityModena
Period27/06/201730/06/2017
Internet address

Fingerprint

Mobile robots
Grippers
Collision avoidance
Manipulators
Robotics
Calibration
Industry
Experiments

Keywords

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

Cite this

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. In: Procedia Manufacturing. 2017 ; Vol. 11. pp. 114-123.
@inproceedings{02f44913ac634667aef677569cc03ec2,
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 = "9",
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",

}

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.

In: Procedia Manufacturing, Vol. 11, 19.09.2017, p. 114-123.

Research output: Contribution to journalConference article in JournalResearchpeer-review

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

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

VL - 11

SP - 114

EP - 123

JO - Procedia Manufacturing

JF - Procedia Manufacturing

SN - 2351-9789

ER -