Abstract
Future automation systems are likely to include devices with a varying degree of autonomy, as well as advanced algorithms for perception and control. Human operators will be expected to work side by side with both collaborative robots performing assembly tasks and roaming robots that handle material transport. To maintain the flexibility provided by human operators when introducing such robots, these autonomous robots need to be intelligently coordinated, i.e., they need to be supported by an intelligent automation system. One challenge in developing intelligent automation systems is handling the large amount of possible error situations that can arise due to the volatile and sometimes unpredictable nature of the environment. Sequence Planner is a control framework that supports the development of intelligent automation systems. This paper describes Sequence Planner and tests its ability to handle errors that arise during execution of an intelligent automation system. An automation system, developed using Sequence Planner, is subjected to a number of scenarios where errors occur. The error scenarios and experimental results are presented along with a discussion of the experience gained in trying to achieve robust intelligent automation.
Highlights
These intelligent sub-systems need to be coordinated by a control system that takes into account human operators
This paper describes how unforeseen errors can be handled by the Sequence Planner control framework
We show that the system could continue functioning after errors have occurred even though no manual modeling of error situations was done, with the exception of adding a “reset” maintenance transition for each resource and product in the system
Summary
The aim of the conversion work is to include a robot working together with an operator in order to jointly perform the assembly of an engine side by side, sharing tools hanging by wires from the ceiling. Material to be mounted on a specific engine is loaded by an operator from kitting facades located adjacent to the line. An autonomous mobile platform (MiR100) carries the kitted material to be mounted on the engine, to the collaborative robot assembly station. A robot and an operator work together to mount parts on the engine by using different tools suspended from the ceiling. They lift a heavy ladder frame on to the engine and either the operator or the robot can use the tools to tighten bolts and oil-filter which should be mounted
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