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Optimal robot positioning for sustainable process execution

Srinivasan, Venkatachalam und Ghanjaoui, Yassine und Satwan, Philip und Biedermann, Jörn und Nagel, Björn (2023) Optimal robot positioning for sustainable process execution. DLRK, 2023-09-19 - 2023-09-21, Stuttgart. doi: 10.25967/610474.

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Kurzfassung

In this paper, the methodology to implement an inference algorithm based on the robot parameters for process execution on different Key Performance Indicators (KPI’s) is presented. This work is part of holistic objective to implement a system to perform virtual validation of automated process with robots, where the impact of relative position of robot to required task and vice-versa could be inferred virtually. For the above implementation, it is proposed to develop the digital model of the necessary infrastructure in the simulation environment. To start with, computational data from simulation is stored to a database, which is then analysed and appropriate regression based inference model is formulated. To ensure that the digital model imitates the real-time system, the feedback data from hardware execution is used to improve the parameters of regression model. With this implementation, the digital model would represent the digital twin (DT) of the hardware under consideration. The whole execution is performed on the pre-assembly cell at the Institute for System Architectures in Aeronautics, Hamburg. Use case for the digital twin implementation is the pre-assembly of overhead structural truss that assists in realizing the modularized cabin assembly process. Implementation of simulation model for cabin assembly is a two-fold approach, where the robot localization for reachability is computed followed by computation of joint trajectories. From the obtained trajectories, the energy and time consumed by the robot for a given task is calculated. The computed information is then stored in a database, which is then fed to an inference algorithm. Implementation of the algorithm is desired based on the time taken for path computation, and using this algorithm the optimal robot location and joint angles for any new unknown task could be com- puted.

elib-URL des Eintrags:https://elib.dlr.de/203881/
Dokumentart:Konferenzbeitrag (Poster)
Titel:Optimal robot positioning for sustainable process execution
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Srinivasan, VenkatachalamVenkatachalam.Srinivasan (at) dlr.dehttps://orcid.org/0000-0002-6674-303X158625864
Ghanjaoui, YassineYassine.Ghanjaoui (at) dlr.dehttps://orcid.org/0009-0007-6864-2439158625865
Satwan, PhilipPhilip.Satwan (at) dlr.dehttps://orcid.org/0009-0003-7947-2827158625866
Biedermann, Jörnjoern.biedermann (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Nagel, BjörnBjoern.Nagel (at) dlr.dehttps://orcid.org/0000-0001-8076-9853NICHT SPEZIFIZIERT
Datum:2023
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
DOI:10.25967/610474
Status:veröffentlicht
Stichwörter:virtual validation; digital twin; robotics; cabin; efficient process; simulation
Veranstaltungstitel:DLRK
Veranstaltungsort:Stuttgart
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:19 September 2023
Veranstaltungsende:21 September 2023
Veranstalter :DGLR
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Komponenten und Systeme
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L CS - Komponenten und Systeme
DLR - Teilgebiet (Projekt, Vorhaben):L - Wartung und Kabine
Standort: Hamburg
Institute & Einrichtungen:Institut für Systemarchitekturen in der Luftfahrt > Kabine und Nutzlastsysteme
Hinterlegt von: Srinivasan, Venkatachalam
Hinterlegt am:29 Apr 2024 07:36
Letzte Änderung:06 Mai 2024 11:29

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