Towards Autonomous Programming of Micro-Assembly Robotics

authored by: Rolf Wiemann, Niklas Terei, Annika Raatz
Abstract: Due to the strive towards miniaturized systems and the growing field of optical technologies, micro-assembly is becoming increasingly important. Micro-assembly is characterized by challenging processes that require sub-micron level positioning accuracy regardless of modeling and calibration errors in the manipulator system. Automating these processes requires not only profound expertise about the process itself but also highly skilled personnel for programming the micro-assembly robot since current interfaces lack intuitive programming methods and simulation capabilities. In this paper, we outline a roadmap towards autonomous programming by combining intuitive programming approaches with intelligent and self-learning algorithms. Following this roadmap, the user will be supported progressively by autonomous and intelligent sub-processes until the machine can finally program itself autonomously. Based on a systematic review of the current state of automated micro-assembly and simulation frameworks, we show the capabilities of current approaches and identify key enablers for an autonomous assembly. From these enablers, we derive modules building our proposed framework. Central aspects are the development of a holistic simulation and a data management, which include not only the robot with its sensor systems but also assembly-components. These form the foundation for offline programming and the usage of machine learning algorithms. In order to facilitate future research, we propose the utilization of the Robot Operating System 2 framework (ROS2) as a basis for autonomous programming adhering the principles of open-source and enabling seamless integration.
Organisation(s): Institute for Assembly Technology and Robotics
PhoenixD: Photonics, Optics, and Engineering - Innovation Across Disciplines
Type: Conference article
Journal: Procedia CIRP
Volume: 127
Pages: 44-49
No. of pages: 6
ISSN: 2212-8271
Publication date: 2024
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Control and Systems Engineering, Industrial and Manufacturing Engineering
Electronic version(s): https://doi.org/10.1016/j.procir.2024.07.009 (Access: Open)