TY - JOUR
T1 - Robot Coordination
T2 - Aeronautic Use Cases Handling Large Parts
AU - González Ojeda, Itzel De Jesús
AU - Bengoa, Pablo
AU - Ibarguren, Aitor
AU - Antolín-Urbaneja, Juan Carlos
AU - Angelakis, Panagiotis
AU - Gkournelos, Christos
AU - Lotsaris, Konstantinos
AU - Makris, Sotiris
AU - Martínez De Lahidalga, Sandra
N1 - Publisher Copyright:
© 2022 by the authors.
PY - 2022/12
Y1 - 2022/12
N2 - The coordination of two collaborative robots to handle and hold huge parts is the main topic of this research. This study shows how flexible systems may accommodate large-volume components while situating components with a displacement precision between robots of no more than 10 mm into the parts, with the assistance of a single operator. The robots must be able to keep the parts in place while coordinating their movements to handle the parts and reducing external stressors. This paper suggests using collaborative robots to integrate flexible tools for adaptability to various elements in order to accomplish this goal without endangering the operators. The software architecture is described in full in this paper, including machine states to choose task executions, robot referencing in the workspace, remote monitoring via the digital twin, generation paths, and distributed control using a high-level controller (HLC).
AB - The coordination of two collaborative robots to handle and hold huge parts is the main topic of this research. This study shows how flexible systems may accommodate large-volume components while situating components with a displacement precision between robots of no more than 10 mm into the parts, with the assistance of a single operator. The robots must be able to keep the parts in place while coordinating their movements to handle the parts and reducing external stressors. This paper suggests using collaborative robots to integrate flexible tools for adaptability to various elements in order to accomplish this goal without endangering the operators. The software architecture is described in full in this paper, including machine states to choose task executions, robot referencing in the workspace, remote monitoring via the digital twin, generation paths, and distributed control using a high-level controller (HLC).
KW - cobots
KW - coordinated operation
KW - digital twin
KW - dual arm
KW - external control
KW - high-level controller
KW - synchronized operation
KW - trajectory generation
UR - http://www.scopus.com/inward/record.url?scp=85144720702&partnerID=8YFLogxK
U2 - 10.3390/designs6060116
DO - 10.3390/designs6060116
M3 - Article
AN - SCOPUS:85144720702
SN - 2411-9660
VL - 6
JO - Designs
JF - Designs
IS - 6
M1 - 116
ER -
