|Topic:||Distributed robotic cell|
|Description:||The purpose of this project is to combine virtual (simulated) robotic cells or production lines with real robots that may be distributed over several, maybe distant, places. In such a way it is possible to combine equipment, i.e. robots of different types, that would not be possible to have at one place. The only prerequisite is that each physical robot has enough space around itself that does not limit its movements. The whole production cell is designed and built in a simulation environment, such as Siemens Tecnomatix Process Simulate. The robots may cooperate and synchronize themselves in the virtual environment even if in the physical environment they are spatially distributed. It means that a physical robot may wait in its working space before another physical robot in another working place completes its movement.
Such a distributed setting allows performing experiments on various equipment such as measuring the energy consumption of robotic movements with different tools and load they carry. The data obtained from the measurement are much more diverse and provide much better training sets for the identification and other machine-learning functions.
The experiments will be done in Department of control engineering (DCE) at FEE and Testbed for Industry 4.0 at CIIRC.
This topic is dedicated to preparing the infrastructure for the distributed lab using previous project such as LabLink, and to improving the way how the energy of the robots is measured. Database and cloud connectivity is the next step within the project.
1. Utilize the existing infrastructure for the management of the resources that is known as LabLink (resource reservation and access control system). Upgrade the PLC management utilities to be compatible with the new engineering software called TIA Portal for Siemens Simatic PLCs.
2. Design a system architecture how to connect two robotic cells together with the simulation environment: one robot is at DCE, other robots are at Testbed.
3. Study the existing work on robot energy consumption measurement and fast database access.
4. Based on existing work implement data collection mechanisms to obtain consumed energy from the robot and other operational data such as torques at the robot joints, positions of the joints etc.
5. Implement a test environment which will show the feasibility of the designed system.
|Max.number of students:||4|