After analysing the working system in the working packages 1 to 5, a Use Case, that determines the viewing frame, has been defined. The Use Case can be split into the three stages 'commissioning', 'pre-assembly' and 'team task' which can be seen in the following figure.
mobile, ad-hoc cooperating roboter teams
In this case the mobile robot has the task to take parts out of a warehouse and make them accessible to a worker. Therefore the robot has the option to pick up a box from a shelf, to order pick parts from a box or take out a motor out of a shelf. The robot has to drive to the shelf, localise the position of the part or the box and transmit this position to the planning system to plan the path.
In this step the robot delivers the part to the worker or the assembly station. While driving to its destination, the robot takes care of manipulative tasks such as pre-assembling parts before handing those over to the worker. Due to that pre-assembly the worker has less work to do and the following montage can be done more effectively.
We define the expression 'team' as the cooperation of humans and robots as well as the combination of various mobile platforms that execute tasks together.
In the Use Case both the assembly work and the quality control can be completed in teams. For instance screwing a ring and a motor together can be done by two mobile robots or by a robot and a human working hand in hand. One robot needs to hold the motor with his gripper while the worker or the second robot is screwing the ring onto the motor.
The respective applications are schematically depicted below.