Details

Autor(en) / Beteiligte

• Mangold, Simon
• Mata, Sara
• Barrios, Asier
• Friedmann, Marco
• Fleischer, Jürgen

Titel

The Control Architecture KaReSA: A Learning Disassembly System

Ist Teil von

• Production Processes and Product Evolution in the Age of Disruption, p.562-569

Ort / Verlag

Cham: Springer International Publishing

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• RemanufacturingRemanufacturing is commonly perceived as a promising field for future challenges such as resource efficient productionProduction. For an economicEconomic operation of remanufacturingRemanufacturing facilities, an automation of the currently mainly manual labor is mandatory. Due to uncertainties of the core’s condition, the (automated) production systemProduction system needs to be highly flexible. This contribution introduces the universal and modular control architectureControl Architecture KaReSA (Karlsruhe RemanufacturingRemanufacturing System Architecture). KaReSA combines CAD Data with point clouds for the planning and execution of robotic manipulation. The combination of offline data (CAD models) with online data (point clouds and RGB images) enables the compensation of uncertainties as well as a suitable planning approach. KaReSA is divided into several modules with different responsibilities of the planning and execution monitoring. The modularity of the architecture allows the application of different industrial robot manipulators. This contribution describes the structure of the system architecture and examines the universality of the approach by practical experiments on two different robot platforms.