This video shows a fleet of two different robots: Robotino® 3 for transportation and the service robot Larry equipped with an UR5 manipulator for mobile manipulation.
The fleet receives jobs from a warehouse management system and autonomously performs the commissioning process. The robots collaborate during the execution of the commissioning, splitting the task into order picking of the items, and the transportation of the picked items within small load carriers. Where needed, e.g. item handover, the two collaborating robots directly interact on their behavior levels using SmartTCL.
The software system is composed out of components modeled and developed using the SmartMDSD Toolchain. Thanks to the SmartMDSD Toolchain and the used MDSD approach, flexible and fast composition of existing and newly developed software components is possible.
The system uses different recognition components, dependent on the items to detect and the environment they are stored in (e.g. a-frame, inclined shelf). The video shows the usage of two different recognition components, one using point cloud model matching and one detecting boxed articles by their dimensions.
The fleet is able to adapt to new environments (e.g. items, storage infrastructure) by changing the software configuration and the models only.