Together with the trends of mass personalization, flexible robotic applications become more and more popular. Although conventional robotic automation of workpiece manipulation seems to be solved, advanced tasks still need great amount of effort to be reached. In most cases, on-site robot programming methods, which are intuitive and easy to use, are not applicable in flexible scenarios. On the other hand, the application of offline programming methods requires careful modeling and planning. Consequently, this paper proposes a generalized development methodology for flexible robotic pick-and-place workcells, in order to provide guidance and thus facilitate the development process. The methodology is based on the Digital Twin (DT) concept, which allows the iterative refinement of the workcell both in the digital and in the physical space. The goal is to speed up the overall commissioning (or reconfiguration) process and reduce the amount of work in the physical workcell. This can be achieved by digitizing and automating the development, and maintaining sufficient twin closeness. With that, the operation of the digital model can be accurately realized in the physical workcell. The methodology is presented through a semi-structured pick-and-place task, realized in an experimental robotic workcell together with a reconfiguration scenario.

随着大规模个性化趋势的发展，灵活的机器人应用变得越来越流行。尽管似乎已经解决了传统的工件操纵机器人自动化技术，但高级任务仍然需要大量的精力才能完成。在大多数情况下，直观且易于使用的现场机器人编程方法不适用于灵活的场景。另一方面，离线编程方法的应用需要仔细的建模和计划。因此，本文提出了一种灵活的机器人取放工作单元的通用开发方法，以提供指导并促进开发过程。该方法基于数​​字孪生（DT）概念，该概念允许在数字空间和物理空间中迭代优化工作单元。目标是加快整体调试（或重新配置）过程并减少物理工作单元中的工作量。这可以通过使开发过程数字化和自动化以及保持足够的双胞胎亲密性来实现。这样，可以在物理工作单元中准确地实现数字模型的操作。通过半结构化的拾取和放置任务介绍了该方法，该任务在实验机器人工作单元中实现，并带有重新配置方案。