In this paper, a smart factory concept for autonomous mobile robots is presented. The main purpose is to increase productivity of the transport in machine-floor. It is based on advanced methods for failure handling and prevention, leading to increased robustness, less downtime and less effort in maintenance [1], [2]. Therefore, condition data and states of the robot are collected by Robot Operation System (ROS) and transferred to a factory hub (server). The collected data, e.g. voltages, currents, set points, velocities and accelerations are used to identify important system parameters, e.g. moving masses and friction parameters to enable the proposed smart factory concept. Further aim is to let the factory hub control a group of mobile robots using a self-organizing algorithm for different tasks. Due to the increasing customization of products causing smaller lot sizes [3], manufacturers of mobile robotic production systems have developed a diversity of flexible robots [4], [5], [6], [7], [8]. Mobile robots inside the production line allow for collecting and evaluation of system-inherent data e.g. handling and transportation time, wheel friction, workpieces mass, center of gravity and energy consumption during trajectory execution. In general, mobile robots are electrically driven. Hence, an estimation of the battery state is essential in order to automatically plan charging cycles and to organize and optimize the cooperation behavior of a group of mobile robots. In this proposed approach, mobile robots are equipped with a measurement system and connected via Bluetooth to a factory hub, providing monitoring, analyzing and planning tools. The battery states of all robots are considered in the process planning. The robots are based on the KUKA youBot, equipped with a soft gripper and a RealSense camera. A condition monitoring system measures the energy consumption of all components and transfers the information to the factory hub. The state of charge limits the number of executable operations. Therefore, in a ...


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    Titel :

    Condition Monitoring and Cloud-based Energy Analysis for Autonomous Mobile Manipulation - Smart Factory Concept with LUHbots


    Beteiligte:
    Carstensen, Jan (Autor:in) / Carstensen, Torben (Autor:in) / Pabst, Malte (Autor:in) / Schulz, Fabian (Autor:in) / Friedrichs, Jan (Autor:in) / Aden, Simon (Autor:in) / Kaczor, Daniel (Autor:in) / Kotlarski, Jens (Autor:in) / Ortmaier, Tobias (Autor:in)

    Erscheinungsdatum :

    2016-01-01


    Anmerkungen:

    Procedia Technology 26



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    600 / 629




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