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@PHDTHESIS{Ecker:975208,
author = {Ecker, Christian},
othercontributors = {Brecher, Christian and Verl, Alexander},
title = {{F}lexible {I}nbetriebnahme roboterbasierter
{M}ontagesysteme durch {P}rozessdemonstration; 1. {A}uflage},
volume = {2023,31},
school = {RWTH Aachen University},
type = {Dissertation},
address = {Aachen},
publisher = {Apprimus Verlag},
reportid = {RWTH-2023-11893},
series = {Ergebnisse aus der Produktionstechnik},
pages = {1 Online-Ressource : Illustrationen},
year = {2023},
note = {Druckausgabe: 2023. - Auch veröffentlicht auf dem
Publikationsserver der RWTH Aachen University 2024;
Dissertation, RWTH Aachen University, 2023},
abstract = {A dynamic market environment and a high number of variants
are making it increasingly difficult for manufacturing
companies to adopt cost-effective operating parameters for
their production system. Flexibility and adaptability of the
production equipment at the interface to the manufactured
product are therefore of increasing importance. Regarding
automated assembly using robot-based systems, there is a
particular lack of suitable methods that allow employees to
adapt processes independently to meet new requirements.
Therefore, this thesis focuses on the development of an
intuitive interaction method for assembly workers, which
enables the holistic learning of automated assembly
processes. The approach avoids the use of control-specific
programming procedures, which would require a high degree of
expert knowledge and coordination of distributed control
systems. Instead, a process -oriented view of the control
task is provided, which is aligned with the domain knowledge
of the operator. The interaction method applies the concept
of "programming by demonstration" (PbD). Technically, the
realized interaction interface consists of a combination of
motion and gripping sensors as well as image processing, by
which the operator is detected during assembly
demonstration. The sensor data is used for
interaction-parallel tracking of the operator's actions and,
subsequently, for the recognition of defined basic assembly
patterns. The immediate visual feedback of recognized
assembly steps results in a direct feedback loop that
enables operators to validate assembly sequences and
iteratively adjust process parameters. The interpretation of
sensor data is based on a multi-agent approach and an
event-driven architecture. For information exchange, the
implemented agent types use a proposed communication
protocol. The open and generic design of the information
flow facilitates extensibility by additional assembly
functions and sensor systems. The application and validation
of the concept is shown using a demonstration system
equipped with a freely programmable robot system and
flexibly and universally usable function modules for
assembly. Furthermore, the integration of the interaction
method into a comprehensive engineering framework is
described. The final evaluation characterizes the designed
commissioning approach in its effects on the interacting
operator (usability) and the achieved flexibility for the
assembly organization. It also provides an assessment of its
technical components' performance.},
cin = {417310 / 417200},
ddc = {620},
cid = {$I:(DE-82)417310_20140620$ / $I:(DE-82)417200_20140620$},
typ = {PUB:(DE-HGF)11 / PUB:(DE-HGF)3},
doi = {10.18154/RWTH-2023-11893},
url = {https://publications.rwth-aachen.de/record/975208},
}
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