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| People | Applications and Manufacturing Systems: Workcell Configuration Management |
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Workcells are composed of discrete components arranged to perform a task or series of tasks. How well this arrangement is suited to its design goals is determined by the granularity and intelligence of the population of components available during the design of the work cell.
For example, using manipulators composed of modular actuators allows a better match to design specifications than does choosing from an array of monolithic manipulators.
The goal of configuration management is to provide the operator with the best selection of resources (sensors, actuators, software modules, tools, etc.) within the best physical configuration to perform a given task. Figure 1 overviews cell complexity and example components.
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| Configuration Management Policy |
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- Resource Pool of over 100 Modular Components
- Choose components that optimize performance for given task
- Configure and arrage components into integral cell structure
- Reconfigure On the fly to optimize reduendent resources
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| End Effector Tools |
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- 10+ Distinct Devices
- Tool Parameters
- Performance Norms
- Quick/Change Interfaces
- Standards to Reduce Cost
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| Cell Sensors |
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- 10+ Distinct Measurands
- Measurement Accuracy
- Signal Data Reduction
- Data Fusion
- Cell Calibration
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| Cell Software |
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- 1000+ Software Modules
- Task Planning/Performance
- Condition Based Maintenance
- Man/Machine Interface
- Assemble SFW on Demand
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Choosing, arranging, interfacing, and controlling workcell components are complex issues that need to be addressed in order to improve the usability and effectiveness of workcell systems. Configuration management technology addresses this issue through the use of decision-making and optimization algorithms.
A basic approach to CM involves the following seven elements. 1. Environment definition, 2. Task definitions, 3. The decomposition of these tasks into automatable procedures, 4. Component definitions, 5. Resource acquisition, 6. Resource allocation and configuratio, 7. Simulation of work cell under this configuration.
All seven elements are present during both the physical design (offline CM) and the operation of the cell (online CM). Offline CM aids in the selection, integration and arrangement of tools, manipulators, fixtures, material handling systems, sensors, electronics, and software to create a cell with optimum functionality and performance.
Once such a cell is assembled, its operation is also subject to numerous CM issues. Resource redundancies need to be resolved through optimization based on task demands. Online resources modifications such as tool changes and component faults need to be managed.
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| Configuration Management Schema |
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