Technologies for Robust Agile Manufacturing
نویسندگان
چکیده
* Department of Electrical Engineering and Applied Physics † Department of Computer Engineering and Science ‡ Department of Mechanical and Aerospace Engineering ABSTRACT This paper describes advances in developing key software, sensing/control, and parts-handling technologies enabling robust operation of an agile manufacturing workcell. In particular, we discuss: a modular software architecture that supports real-time feedback, process scheduling, and workcell extensions; simulation for error detection, visualization, and diagnosis; flexible sensors allowing multiple, programmable quality checks; a generic robot API permitting plug-and-play of heterogeneous robot controllers/networks; flexible feeders accommodating a large variety of parts, including medium-sized and rolling parts; and agile gripper design methods enhancing speed and reliability of parts handling.
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