A Flexible Architecture for Automatically Generating Robot Applications based on Expert Knowledge

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 8Sprache: EnglischTyp: PDF

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Macho, Miroslav; Naegele, Ludwig; Hoffmann, Alwin; Angerer, Andreas; Reif, Wolfgang (Institute for Software & Systems Engineering, University of Augsburg, 86159 Augsburg, Germany)

In this paper, we propose a general software architecture for off-line programming platforms to semi-automatically program a robot system and its end-effectors in industrial automation. It considers that such platforms should be geared towards domain experts – especially when regarding low-batch size manufacturing of customized products as part of Industry 4.0. Hence, it supports a process-oriented guidance for complex manufacturing tasks and includes the possibility for interactive planning with domain-specific user interfaces. Moreover, the extensibility for new domains, work-flows, algorithms, user interfaces or hardware plays an important role in the proposed approach. Finally, the architecture was successfully evaluated on an off-line programming platform for the manufacturing of carbon-fibre-reinforced polymers (CFRP) which can be characterized as a low-batch size production process.