Composing Relative Spatial Location Models in Skill-based Robotic Reconfigurable Cyber-Physical Production Modules
Authors/Creators
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1.
German Research Centre for Artificial Intelligence
Description
Skill-based robotic reconfigurable cyber-physical production modules (RCPPMs) have an aggregated structure, and their functionality depends on the submodules and components that define their current topology. This application-oriented paper proposes a method for integrating the OPC UA Relative Spatial Location (RSL) Companion Specification models and the ROS2 tf2-library functionality to automatically update the SRL models of the RCPPMs when their structure changes. This enables the proper composition and sharing of the necessary information regarding the kinematic structure of each RCPPM’s submodule. On an example, we illustrate how this approach can be employed to enhance the coupling functionality of the skill-based robotic RCPPMs.
Notes
This is the accepted manuscript of an article published by 2025 IEEE 30th International Conference on Emerging Technologies and Factory Automation (ETFA) on 21.10.2025. The final version of record is available at https://doi.org/10.1109/ETFA65518.2025.11205661. This work was funded by the European Union’s HORIZON Research and Innovation Action Program under the grant agreement No 101138782, the project RAASCEMAN and is distributed under the CC BY 4.0 license.
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