Tuli, Tadele Belay

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Tuli, Tadele Belay
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    PublicationAccess status: Open Access ,
    Enabling scalable and flexible production through digital twin-based robot–machine commissioning
    (2026)
    Tuli, Tadele Belay
    ;
    Schiller, Michael
    ;
    Engel, Bernd
    ;
    Manns, Martin
    This paper presents a conceptual method for a digital twin–based framework for scalable, flexible robot–machine commissioning in batch production processes. Following the concept of virtual commissioning as defined in VDI 4499, this method proposes a robot-first, event-driven interaction paradigm in which a mobile manipulator initiates transportation, handling, and manipulation tasks while production machines remain in a ready state and respond to the robot's actions. The approach is validated through a proof-of-principle demonstration using a nine-degree-of-freedom mobile manipulator (SkaBot9) with an integrated shelf. The complete process logic and communication architecture are simulated and transferred to the physical system without structural changes. The results demonstrate that the proposed method supports early validation of robot–machine interaction and a potential for commissioning with flexible, mobile robot–based production systems.
    Source Type:InProceedings
    DOI:10.25819/ubsi/11008