Automated Control and Simulation of Dynamic Robot Teams in the Domain of CFK Production Marian Körber1and Roland Glück2

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Automated Control and Simulation of Dynamic

Robot Teams in the Domain of CFK Production

Marian Körber1and Roland Glück2

1,2Deutsches Zentrum für Luft- und Raumfahrt

1marian.koerber@dlr.de

2roland.glueck@dlr.de

1 Introduction

Pick and place processes in aerospace industry have become an area of research

interest during the last decade, see e.g. [9, 6, 10]. Also, generation of programs

for robots and controlling robots automatically from data of the robot cell and

CAD data of the tooling has already a long history. In the domain of CFK

production for aircraft parts previous work includes [15, 14, 8, 7, 13]. The main

idea is always to deduce grip and drop positions of grippers in a pick and place

process of CFK plies from a CAD ﬁle (enhanced with additional informations

about the transformation between plies in 2D at the gripping position and in

3D at the dropping position) and to us these positions to generate trajectories

for the production process. In constrast to this work, we provide new ideas and

techniques dealing with the following issues:

•order of the laying steps: in all of the cited work, the order of the laying

steps was not considered at all or it was derived from the linear order in

the CAD ﬁle. We free ourselves from this rigid speciﬁcation and determine

only a partial order from the geometric properties of the CAD ﬁle.

•parallel execution: in contrast to the cited work, we also allow parallel

execution of (sub)tasks.

•ﬂexible assignement: while the cited work operates with unchanging one-

to-one assigments of grippers to plies we allow multiple gripper conﬁgura-

tions for one ply.

All these extensions allow a more ﬂexible schedule and open the door for opti-

mized process executions.

The approach we follow is closely related to the one described in [12] where

also the use case was sketched. It consists of the four phases analysis, assign-

ment, scheduling and planning, and simulation or execution. The analysis and

arXiv:2210.11213v1 [cs.RO] 20 Oct 2022

assignment phases correspond to Section 3, the scheduling and planning phase

to Section 4.

2 Set Up

2.1 Plybook

The plybook was created in CATIA, a standard tool for construction in the

area of CFK. For our demonstrating example we used a semicylindric tooling

as mock-up emulating a aircraft fuselage as used also in real production. The

lay-up consists of alltogether 23 carbon plies of diﬀerent size und form which are

partially overlapping. A screenshot from the construction is given in Figure 1.

Figure 1: The Example Plybook

2.2 Cell Layout

As production cell we created a cell similar to the facilities at the DRL in

Augsburg. It consists of two upright KUKA robots mounted on two parallel

linear axes. Both of them are equipped with two identical grippers, called snake

grippers (“Schlangengreifer”) which are real existing grippers at the DLR used

already in practice. These grippers have vacuum suction devices on their bottom

which can grasp carbon ﬁber textiles and even metal sheets. Figure 2 shows this

scenario with the robots at the right and the left with the grippers mounted on

them, the desk from where the plies are picked up with an already placed ply

in the front, and the tooling form in the background.

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AutomatedControlandSimulationofDynamicRobotTeamsintheDomainofCFKProductionMarianKörber1andRolandGlück21,2DeutschesZentrumfürLuft-undRaumfahrt1marian.koerber@dlr.de2roland.glueck@dlr.de1IntroductionPickandplaceprocessesinaerospaceindustryhavebecomeanareaofresearchinterestduringthelastdecade,seee.g.[9...

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Automated Control and Simulation of Dynamic Robot Teams in the Domain of CFK Production Marian Körber1and Roland Glück2

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