Simulation-based Control of Reconfigurable Robotic Workcells: Interactive Planning and Execution of Processes in Cyber-Physical Systems

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 8Language: englishTyp: PDF

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Priggemeyer, Marc; Rossmann, Juergen (Institute for Man-Machine Interaction, RWTH Aachen University, Aachen, Germany)

Simulation-based Control offers a concrete realization for the concepts introduced by the definitions and standards concerned with Cyber-Physical Systems in manufacturing processes. The basis for this realization is a simulated virtual environment that is tightly coupled with all the physical assets involved in industrial applications. This paper provides an in-depth reconciliation of the ideas of the application of Virtual Testbeds in terms of Simulation-based Control with the historical layer scheme of the Purdue Enterprise Reference Architecture (PERA) and the very recent Reference Architectural Model Industry 4.0 (RAMI 4.0). The idea of Simulation-based Control is illustrated by the application of the outlined aspects to a reconfigurable robotic workcell for industrial production lines. Since a variety of internal tasks are involved in the execution of a pre-planned manufacturing process, details covering technical preconditions for system models and communication protocols are presented. In this context, the high-level development of control schemes in a virtual environment (VTB) allows an efficient way to define manufacturing processes that can be directly deployed to the processing hardware.