Integrating robot systems into manufacturing lines is a time-consuming process. In the era of digitalization, the research and development of new technologies is crucial for improving integration processes. Numerous challenges, including the lack of standardization, as well as intricate stakeholder relationships, complicate the process of robotic systems integration. This process typically consists of acquisition, integration, and deployment of the robot systems. This thesis focuses on three areas that help automate and simplify robotic systems integration. In the first area, related to acquisition, a constraint-based configurator is demonstrated that resolves compatibility challenges between robot devices, and automates the configuration process. This reduces the risk of integrating incompatible devices and decreases the need for experts during the configuration phase. In the second area, related to integration, the interoperable modeling format, Unified Robot Description Format (URDF), is investigated, where a detailed analysis is performed, revealing significant inconsistencies and critical improvements. This format is widely used for kinematic modeling and 3D visualization of robots, and its models can be reused across simulation tools. Improving this format benefits a wide range of users, including robotics engineers, researchers, and students. In the third area, related to deployment, Digital Twins (DTs) for robot systems are explored, as these improve efficiency and reduce downtime. A comprehensive literature review of DTs is conducted, and a case study of modular robot systems is developed. This research can accelerate the adoption of DTs in the robotics industry. These insights and approaches improve the process of robotic systems integration, offering valuable contributions that future research can build upon, ultimately driving efficiency, and reducing costs.

翻译：将机器人系统集成到生产线中是一项耗时的过程。在数字化时代，新技术的研发对于改进集成流程至关重要。诸多挑战，包括标准化缺失以及利益相关者关系的复杂性，使得机器人系统集成过程变得困难。该过程通常包括机器人系统的采购、集成和部署。本论文聚焦于三个有助于自动化和简化机器人系统集成的领域。在第一个与采购相关的领域中，展示了一种基于约束的配置器，它解决了机器人设备之间的兼容性问题，并实现了配置过程的自动化。这降低了集成不兼容设备的风险，并减少了配置阶段对专家的需求。在第二个与集成相关的领域中，研究了可互操作的建模格式——统一机器人描述格式（URDF），并进行了详细分析，揭示了显著的不一致性和关键改进点。该格式广泛用于机器人的运动学建模和3D可视化，其模型可在不同仿真工具中重复使用。改进这一格式将使包括机器人工程师、研究人员和学生在内的广泛用户受益。在第三个与部署相关的领域中，探索了机器人系统的数字孪生（DTs），因其能提高效率并减少停机时间。本文对数字孪生进行了全面的文献综述，并开发了模块化机器人系统的案例研究。本研究可加速数字孪生在机器人产业中的应用。这些见解和方法改进了机器人系统集成流程，为未来研究提供了有价值的贡献，最终推动效率提升并降低成本。