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Development of a dynamic TCP-positioning method for a collaborative robot using an intelligent, self-aware workpiece carrier

  • The Industry 4.0 paradigm requires concepts for integrating intelligent/ smart IoT Solutions into manufacturing. Such intelligent solutions are envisioned to increase flexibility and adaptability in smart factories. Especially autonomous cobots capable of adapting to changing conditions are a key enabler for changeable factory concepts. However, identifying the requirements and solution scenarios incorporating intelligent products challenges the manufacturing industry, especially in the SME sector. In pick and place scenarios, changing coordinate systems of workpiece carriers cause placing process errors. Using the IPIDS framework, this paper describes the development of a tool-center-point positioning method to improve the process stability of a collaborative robot in a changeable assembly workstation. Applying the framework identifies the requirement for an intelligent workpiece carrier as a part of the solution. Implementing and evaluating the solution within a changeable factory validates the IPIDS framework.

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Erschienen in:Procedia CIRP
Place of publication:Amsterdam
Document Type:Journal article
Publication year:2023
Tag:IPIDS framework; TCP-positioning; collaborative robots; intelligent products
Issue:16th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME ‘22, Italy
Page Number:6
First Page:229
Last Page:234
DDC classes:600 Technik
Open access?:Ja
Licence (German):License Logo  Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International