Towards a Novel Software Framework for the Intuitive Generation of Process Flows for Multiple Robotic Systems

摘要

To make the process-specific programming of robotic and technical systems more efficient, we introduce the concept of a novel software framework to enable intuitive configuration of cooperative process flows for multiple systems. Our concept allows both the easy programming of systems and the generation of process flows with multiple systems to enable cooperation between them. Following the idea of Operator 4.0 our framework thus enables non-expert workers of industrial companies to effectively control the process flows of a production or logistical process with minimal training effort and costs. In this paper, we first analyze existing software frameworks that facilitate graphical programming and differentiate our approach from them. We explain in detail how our approach conceptually and technically works regarding the framework´s technical architecture, system requirements, interface design, user assistance methods based on digital twin and data analysis, as well as interaction patterns. We validate the functionality and generality of our software framework by integrating two systems of different manufacturers – a collaborative robot and a robotic gripper – into our framework and discuss the technical capabilities of our prototype. In addition, the interaction of unskilled workers and our framework will be compared to an industrial robot teach pendant in a case study in which the participants had to create a pick-and-place process flow.