Control components for Collaborative and Intelligent Automation Systems
Paper in proceedings, 2019

Collaborative and intelligent automation systems need intelligent control systems. Some of this intelligence exist on a per-component basis in the form of vision, sensing, motion, and path planning algorithms. To fully take advantage of this intelligence, also the coordination of subsystems need to exhibit intelligence. While there exist middleware solutions that eases communication, development, and reuse of such subsystems, for example the Robot Operating System (ROS), good coordination also requires knowledge about how control is supposed to be performed, as well as expected behavior of the subsystems. This paper introduces lightweight components that wraps ROS2 nodes into composable control components from which an intelligent control system can be built. The ideas are implemented on a use case involving collaborative robots with on-line path planning, intelligent tools, and human operators.

Planning

Control Architectures and Programming

Factory Automation

Scheduling and Coordination

Author

Martin Dahl

Chalmers, Electrical Engineering, Systems and control, Automation

Endre Erös

Chalmers, Electrical Engineering, Systems and control, Automation

Atieh Hanna

Volvo Cars

Kristofer Bengtsson

Chalmers, Electrical Engineering, Systems and control, Automation

Martin Fabian

Chalmers, Electrical Engineering, Systems and control, Automation

Petter Falkman

Chalmers, Electrical Engineering, Systems and control, Automation

IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

19460740 (ISSN) 19460759 (eISSN)

Vol. 2019-September 378-384 8869112

24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019
Zaragoza, Spain,

Virtual Commissioning of Vehicle Maintenance Operations, UNIFICATION

VINNOVA, 2017-06-01 -- 2020-05-31.

Subject Categories

Embedded Systems

Robotics

Computer Science

DOI

10.1109/ETFA.2019.8869112

More information

Latest update

9/23/2020