System architecture and modular design of robot-like systems using multidimensional characteristic diagrams

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In order to survive in a highly competitive market environment by ensuring profitability in industrial production, companies must develop robot-like systems (RAS) more efficiently for both low-cost and high-end applications. The project proposed considers machines and systems that go beyond manipulators only. Instead, the project focuses on machines for which the parameterization of synchronized or clocked master-slave multi-drive systems is not very robust. In such cases subsequent reparameterisation is often necessary. The behaviour of robot-like systems depends, for example, on factors such as humidity, temperature or temperature gradients in the production hall and the wear of drive components in particular and mechatronics in general. Basically, comprehensive knowledge of the properties of the relevant modules is required for the development of novel robotic systems, the optimization of system performance, and their automation-related adaptation to compensate for mechanical effects. This applies in particular to the components of the drive and automation technology, including the software and the communication network. Within the scope of this research project, a multidisciplinary description language (DSL4RAS) for the software and hardware properties of robotic drive components is to be defined. This language allows engineers to systematically and comprehensively record all relevant influences on component and system behaviour and to make them accessible for design. This approach enables a top-down development of the system architecture with a precise formulation of requirements for subsystems, e.g., of motion sequences and their systematic breakdown into the components involved. Because of this process, comprehensive and multidisciplinary specifications for modules can be derived, which specify all relevant technical aspects with sufficient requirements for the fulfilment of the objective. Thus, the development of components is modularised, i.e., made separable. This can be used to design cost optimized product families. DSL4RAS aims to provide the system control a priori with comprehensive information through a holistic system description. Modular assemblies can be stored with multidimensional characteristic diagrams that map the effects of environmental influences and load-historical impacts, such as changing backlash or friction. This way, the overall system behaviour can be reliably predicted even in the case of a changing environment or a changing behaviour of individual components. This allows engineers to take the behaviour into account already during design and an automated adjustment even during operation is enabled.