Development of Robot Applications Utilizing Asset Administration Shell for Integrated Robotics Processes

摘要

As the digital transformation of the manufacturing industry accelerates, the importance of data integration in manufacturing processes is increasingly emphasized. However, the use of heterogeneous equipment and diverse solutions in building processes hinders smooth data exchange, resulting in compatibility issues among equipment, systems, and data. To address these challenges, the Reference Architecture Model Industry 4.0 (RAMI 4.0) has been proposed as a reference model for Industry 4.0, utilizing the Asset Administration Shell (AAS) to ensure both vertical and horizontal interoperability. In this study, a robot manipulator was modeled using AAS, and the OPC UA protocol was applied to the modeled process elements. Additionally, a digital twin of the robot manipulator was built using MoveIt2 from higher-level systems, allowing for parameter-based control. This facilitates scenario-based integration with heterogeneous equipment such as PLCs, enabling the design of a flexible robot production system that can adapt to the tasks of heterogeneous equipment without human intervention.