Commissioning and System Integration Tests for an Industrial Manipulator Workstation

Abstract

Industrial systems are composed of several sub systems and architectures that are provided by different manufacturers. System integration aims at enabling a developer to combine these unit systems with limited functionality into one system that can accomplish the execution of required process. Modern integrated systems are developed on top of service-oriented architecture and use webservices for information exchange. Such systems are swiftly deployable and ensure platform interoperability, system adaptability and service reusability. Meanwhile, system integration tests help to reduce the complexity during the integration phase thus ensuring process uniformity. This thesis focuses on deploying a robotic manipulator in an industrial cell. The robot is in-stalled in the assembly line as service provider while services are invoked by using RESTful web services. Second objective of the thesis is to implement a free shape path planning algorithm for the deployed autonomous manipulator to follow the desired curve. The last component of this thesis is focused on developing integration tests to examine and verify the designed system. The robot was commissioned at the FASTory assembly line, installed at FAST lab of Tampere University. The free shape paths were implemented by interpolating Bezier curves using De Casteljau algorithm. System was successfully integrated and verified using Top-down depth first and bottom-up breadth first integration testing approaches