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

为了在竞争激烈的市场环境中生存，确保工业生产的盈利能力，企业必须为低成本和高端应用更有效地开发类似机器人的系统(RAS)。提议的项目考虑的是超越机械手的机器和系统。相反，该项目将重点放在同步或时钟主从多驱动系统的参数化不是很健壮的机器上。在这种情况下，通常需要进行后续的重新参数设置。例如，机器人系统的行为取决于生产大厅内的湿度、温度或温度梯度等因素，特别是驱动部件的磨损，以及一般的机电一体化。基本上，开发新的机器人系统、优化系统性能及其与自动化相关的适应以补偿机械效应，需要全面了解相关模块的特性。这尤其适用于驱动和自动化技术的组件，包括软件和通信网络。在本研究项目的范围内，将定义机器人驱动部件的软件和硬件特性的多学科描述语言(DSL4RAS)。这种语言使工程师能够系统和全面地记录对组件和系统行为的所有相关影响，并使其可供设计使用。这种方法能够通过对子系统的需求的精确表述来实现系统体系结构的自上而下的开发，例如，运动序列及其系统分解成所涉及的组件。由于这一过程，可以得出模块的全面和多学科规范，其中规定了所有相关的技术方面，并提出了实现目标的充分要求。因此，组件的开发是模块化的，即使其可分离。这可用于设计成本最优化的产品族。DSL4RAS旨在通过整体的系统描述为系统控制提供先验的全面信息。模块化组件可以与多维特征图一起存储，这些图映射了环境影响和负载历史影响的影响，如变化的间隙或摩擦。这样，即使在环境变化或个别组件的行为变化的情况下，也可以可靠地预测整个系统的行为。这使得工程师可以在设计时就考虑到这种行为，并且即使在运行期间也可以进行自动调整。

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.