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Optimal robot positioning for sustainable and energy efficient process execution

Srinivasan, Venkatachalam and Satwan, Philip and Ghanjaoui, Yassine and Hanl, Thomas and Biedermann, Jörn and Nagel, Björn (2023) Optimal robot positioning for sustainable and energy efficient process execution. ODAS 2023 : ONERA-DLR aerospace symposium, 2023-05-31 - 2023-06-02, Paris.

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Sustainable shop-floor is one of the key emphasis in Industry 5.0 1 . In Industry 4.0, automation played central role and this included usage of robots and other hardware for data generation and analysis which ultimately aimed at autonomously functioning shop-floor. Moving forward to Industry 5.0 energy efficient automation using robots is envisioned for a sustainable aircraft production. With an intent on generating digital twin model for cabin assembly this paper presents the simulation methodology for sustainable shop-floor process. DLR is working on implementing digital thread for the whole cabin lifecycle. The main aim of digital thread is to link the different stakeholders of the cabin lifecycle thereby time and energy efficient aircraft production is feasible. This work is part of the digital thread which aims at generating data based digital twin model for shop-floor processes. This paper demonstrates the feed-forward loop starting from simulation until the robot execution based on the KPI’s concerning energy consumption. The whole task is executed based on the robot assisted pre-assembly cell at the DLR-SL 4 . To begin with the probable locations of the robot for an inverse kinematics task are computed. Based on the reachability for different locations the dynamics of the robot and other external influences such as vibration and noise are taken into account and the trajectory planning is carried out for minimal energy consumption. The whole process is simulated and the computational outputs are stored in a database. An inference algorithm is then generated based on the computational data to evaluate any new task which will then provide the optimal location and the robot joint configuration for minimal energy consumption.

Item URL in elib:https://elib.dlr.de/195702/
Document Type:Conference or Workshop Item (Speech)
Title:Optimal robot positioning for sustainable and energy efficient process execution
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Srinivasan, VenkatachalamUNSPECIFIEDhttps://orcid.org/0000-0002-6674-303XUNSPECIFIED
Satwan, PhilipUNSPECIFIEDhttps://orcid.org/0009-0003-7947-2827UNSPECIFIED
Ghanjaoui, YassineUNSPECIFIEDhttps://orcid.org/0009-0007-6864-2439UNSPECIFIED
Nagel, BjörnUNSPECIFIEDhttps://orcid.org/0000-0001-8076-9853UNSPECIFIED
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:virtual commissioning, digital twin, cabin, energy, robotics, simulation
Event Title:ODAS 2023 : ONERA-DLR aerospace symposium
Event Location:Paris
Event Type:Other
Event Start Date:31 May 2023
Event End Date:2 June 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - MRO and Cabin
Location: Hamburg
Institutes and Institutions:Institute of System Architectures in Aeronautics
Deposited By: Srinivasan, Venkatachalam
Deposited On:10 Jul 2023 07:05
Last Modified:24 Apr 2024 20:56

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