On modelling and handling of flexible materials: A review on Digital Twins and planning systems

Abstract In this paper a series of studies dealing with flexible material manipulation in aspects of manipulation, modelling and scheduling are discussed. The main purpose of this work is to provide an overview of the existing technologies and their capabilities both in manufacturing and academia, that can be elaborated in autonomous flexible material handling using robotics. The particularities of flexible material handling require advanced control systems for simulating, monitoring and managing the deformation of plies. A simulation model for predicting and defining the status of manipulated fabrics is proposed. Digital representation of the production system, in the basis of Digital Twin, is intended for achieving real-time adaptation. A pioneer control and planning system, interconnected to the digital model, is proposed for orchestrating the manipulation process. Current limitations of the existing technologies in flexible material handling and modelling are outlined and discussed, towards the implementation of a Workcell controller for flexible material manipulation robotic cell.

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