Simulation Framework for Virtual Robot Programming in Reconfigurable Production Systems

摘要

Flexible, autonomous production systems form the basis for mastering increasing product diversity and customer-specific production. Industrial robots and modularization play a decisive role here, as they support the automation of complex processes and the reconfiguration of production systems. Yet, a change in the mechanical configuration of a production system always results in big efforts for robot programming. Standard teach-in solutions for robot programming are not suitable for highly varying configurations. An automated, adaptive path planning via simulation is necessary to fill this gap and even allow robot programming for non-expert persons. This paper presents a modular framework for automated robot path simulation and virtual robot programming in reconfigurable production systems, based on service oriented architectures and modularization. The framework is evaluated using a reconfigurable production system for flexible cultivation and differentiation of stem cells, the iCellFactory. Within the system, a gantry-mounted six-axis robot transports fluid filled vessels between multiple, freely positioned modules carrying laboratory devices.