The thesis investigates the integration of robotic systems into manufacturing lines, a process complicated by various factors such as lack of standardization and intricate stakeholder relationships. Three key areas are examined: acquisition, integration, and deployment. The acquisition process is improved through a constraint-based configurator, which automates the configuration process and reduces compatibility issues. The integration process is enhanced by improving the Unified Robot Description Format (URDF), a widely-used format for kinematic modeling and 3D visualization of robots. Lastly, the deployment process is advanced through the exploration of Digital Twins (DTs) for robot systems, which can increase efficiency and reduce downtime.
Publication date: 5 Jan 2024
Project Page: https://arxiv.org/abs/2401.02227
Paper: https://arxiv.org/pdf/2401.02227
