In today’s fast-paced manufacturing environment, modular robotics offer a
compelling solution to address the challenges of short production life cycles
and increasing product variations. These adaptable systems can be quickly
reconfigured to accommodate new designs and production requirements, significantly
reducing downtime and enhancing flexibility.
However, the complexity of combining different robot modules necessitates sophisticated
orchestration methods. The orchestration of manufacturing equipment
is often based on advertised capabilities and services of the machines. In
order to advertise these capabilities to an orchestration system the metadata
modelling of such capabilities is necessary.

Aims

The aim of this thesis is to conduct an analysis and evaluation of metadata
modelling methods for machine capabilities. Additionally, one method should
be used to model the capabilities of an articulated robot, controlled with the
Robot Operating System 2 (ROS2). The approach should then be validated
by implementing an orchestration, which utilizes the advertised capabilities to
commission the robotic system.

Helpful prior knowledge

• Knowledge about robotic systems
• Knowledge about ROS2
• Knowledge about metadata modelling
• Lecture Cyber-Physical Production Systems