Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2
Book chapter, 2020

In many modern automation solutions, manual off-line programming is
being replaced by online algorithms that dynamically perform tasks based on the state
of the environment. Complexities of such systems are pushed even further with col-
laboration among robots and humans, where intelligent machines and learning algo-
rithms are replacing more traditional automation solutions. This chapter describes
the development of an industrial demonstrator using a control infrastructure called
Sequence Planner (SP), and presents some lessons learned during development. SP is
based on ROS2 and it is designed to aid in handling the increased complexity of these
new systems using formal models and online planning algorithms to coordinate the
actions of robots and other devices. During development, SP can auto generate ROS
nodes and message types as well as support continuous validation and testing. SP is
also designed with the aim to handle traditional challenges of automation software
development such as safety, reliability and efficiency. In this chapter, it is argued that
ROS2 together with SP could be an enabler of intelligent automation for the next
industrial revolution.

Author

Endre Erös

Chalmers, Electrical Engineering, Systems and control, Automation

Martin Dahl

Chalmers, Electrical Engineering, Systems and control, Automation

Atieh Hanna

Chalmers, Electrical Engineering, Systems and control, Automation

Per-Lage Götvall

Petter Falkman

Chalmers, Electrical Engineering, Systems and control, Automation

Kristofer Bengtsson

Chalmers, Electrical Engineering, Systems and control, Automation

Robot Operating System - The Complete Reference (Volume 5)

Virtual Commissioning of Vehicle Maintenance Operations, UNIFICATION

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

Subject Categories

Embedded Systems

Robotics

Computer Science

More information

Created

9/13/2020