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• W3139675327 endingPage "102140" @default.
• W3139675327 startingPage "102140" @default.
• W3139675327 abstract "Together with the trends of mass personalization, flexible robotic applications become more and more popular. Although conventional robotic automation of workpiece manipulation seems to be solved, advanced tasks still need great amount of effort to be reached. In most cases, on-site robot programming methods, which are intuitive and easy to use, are not applicable in flexible scenarios. On the other hand, the application of offline programming methods requires careful modeling and planning. Consequently, this paper proposes a generalized development methodology for flexible robotic pick-and-place workcells, in order to provide guidance and thus facilitate the development process. The methodology is based on the Digital Twin (DT) concept, which allows the iterative refinement of the workcell both in the digital and in the physical space. The goal is to speed up the overall commissioning (or reconfiguration) process and reduce the amount of work in the physical workcell. This can be achieved by digitizing and automating the development, and maintaining sufficient twin closeness. With that, the operation of the digital model can be accurately realized in the physical workcell. The methodology is presented through a semi-structured pick-and-place task, realized in an experimental robotic workcell together with a reconfiguration scenario." @default.
• W3139675327 created "2021-04-13" @default.
• W3139675327 creator A5032249136 @default.
• W3139675327 creator A5075401693 @default.
• W3139675327 date "2021-10-01" @default.
• W3139675327 modified "2023-10-18" @default.
• W3139675327 title "Generic development methodology for flexible robotic pick-and-place workcells based on Digital Twin" @default.
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• W3139675327 doi "https://doi.org/10.1016/j.rcim.2021.102140" @default.
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