Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 44-49 |
| Seitenumfang | 6 |
| Fachzeitschrift | Procedia CIRP |
| Jahrgang | 127 |
| Frühes Online-Datum | 10 Okt. 2024 |
| Publikationsstatus | Veröffentlicht - 2024 |
| Veranstaltung | 10th CIRP Conference on Assembly Technology and Systems, CATS 2024 - Karlsruhe, Deutschland Dauer: 24 Apr. 2024 → 26 Apr. 2024 |
Abstract
Due to the strive towards miniaturized systems and the growing field of optical technologies, micro-assembly is becoming increasingly important. Micro-assembly is characterized by challenging processes that require sub-micron level positioning accuracy regardless of modeling and calibration errors in the manipulator system. Automating these processes requires not only profound expertise about the process itself but also highly skilled personnel for programming the micro-assembly robot since current interfaces lack intuitive programming methods and simulation capabilities. In this paper, we outline a roadmap towards autonomous programming by combining intuitive programming approaches with intelligent and self-learning algorithms. Following this roadmap, the user will be supported progressively by autonomous and intelligent sub-processes until the machine can finally program itself autonomously. Based on a systematic review of the current state of automated micro-assembly and simulation frameworks, we show the capabilities of current approaches and identify key enablers for an autonomous assembly. From these enablers, we derive modules building our proposed framework. Central aspects are the development of a holistic simulation and a data management, which include not only the robot with its sensor systems but also assembly-components. These form the foundation for offline programming and the usage of machine learning algorithms. In order to facilitate future research, we propose the utilization of the Robot Operating System 2 framework (ROS2) as a basis for autonomous programming adhering the principles of open-source and enabling seamless integration.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Ingenieurwesen (insg.)
- Wirtschaftsingenieurwesen und Fertigungstechnik
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in: Procedia CIRP, Jahrgang 127, 2024, S. 44-49.
Publikation: Beitrag in Fachzeitschrift › Konferenzaufsatz in Fachzeitschrift › Forschung › Peer-Review
}
TY - JOUR
T1 - Towards Autonomous Programming of Micro-Assembly Robotics
AU - Wiemann, Rolf
AU - Terei, Niklas
AU - Raatz, Annika
N1 - Publisher Copyright: © 2024 Elsevier B.V.. All rights reserved.
PY - 2024
Y1 - 2024
N2 - Due to the strive towards miniaturized systems and the growing field of optical technologies, micro-assembly is becoming increasingly important. Micro-assembly is characterized by challenging processes that require sub-micron level positioning accuracy regardless of modeling and calibration errors in the manipulator system. Automating these processes requires not only profound expertise about the process itself but also highly skilled personnel for programming the micro-assembly robot since current interfaces lack intuitive programming methods and simulation capabilities. In this paper, we outline a roadmap towards autonomous programming by combining intuitive programming approaches with intelligent and self-learning algorithms. Following this roadmap, the user will be supported progressively by autonomous and intelligent sub-processes until the machine can finally program itself autonomously. Based on a systematic review of the current state of automated micro-assembly and simulation frameworks, we show the capabilities of current approaches and identify key enablers for an autonomous assembly. From these enablers, we derive modules building our proposed framework. Central aspects are the development of a holistic simulation and a data management, which include not only the robot with its sensor systems but also assembly-components. These form the foundation for offline programming and the usage of machine learning algorithms. In order to facilitate future research, we propose the utilization of the Robot Operating System 2 framework (ROS2) as a basis for autonomous programming adhering the principles of open-source and enabling seamless integration.
AB - Due to the strive towards miniaturized systems and the growing field of optical technologies, micro-assembly is becoming increasingly important. Micro-assembly is characterized by challenging processes that require sub-micron level positioning accuracy regardless of modeling and calibration errors in the manipulator system. Automating these processes requires not only profound expertise about the process itself but also highly skilled personnel for programming the micro-assembly robot since current interfaces lack intuitive programming methods and simulation capabilities. In this paper, we outline a roadmap towards autonomous programming by combining intuitive programming approaches with intelligent and self-learning algorithms. Following this roadmap, the user will be supported progressively by autonomous and intelligent sub-processes until the machine can finally program itself autonomously. Based on a systematic review of the current state of automated micro-assembly and simulation frameworks, we show the capabilities of current approaches and identify key enablers for an autonomous assembly. From these enablers, we derive modules building our proposed framework. Central aspects are the development of a holistic simulation and a data management, which include not only the robot with its sensor systems but also assembly-components. These form the foundation for offline programming and the usage of machine learning algorithms. In order to facilitate future research, we propose the utilization of the Robot Operating System 2 framework (ROS2) as a basis for autonomous programming adhering the principles of open-source and enabling seamless integration.
KW - autonomous robotics programming
KW - cyber-physical systems
KW - micro-assembly
KW - ROS2
UR - http://www.scopus.com/inward/record.url?scp=85208593462&partnerID=8YFLogxK
U2 - 10.1016/j.procir.2024.07.009
DO - 10.1016/j.procir.2024.07.009
M3 - Conference article
AN - SCOPUS:85208593462
VL - 127
SP - 44
EP - 49
JO - Procedia CIRP
JF - Procedia CIRP
SN - 2212-8271
T2 - 10th CIRP Conference on Assembly Technology and Systems, CATS 2024
Y2 - 24 April 2024 through 26 April 2024
ER -