One could call today's booming industrial expansion the fourth industrial revolution or
'Industry 4.0'. In the past, the main cause of the industrial revolutions were induvidual
scientic or technical inventions, like the steam engine. However, today it is rather the
information technology's close relationship with the automation, which causes the extraordinary
development of the industry.
In Industry 4.0, robots are not acting as separate machines, but more likely as small,
connecting pieces of a greater information system. Many people think that one of the
flagships of Industry 4.0 are mobile robots, which are already taking a great part in the
industrial production. As the technology advances, mobile robots are likely to perform
much more complex and greater tasks not only individually, but rather cooperating with
In my Thesis, I develop a navigation system for the KUKA youBot, which will contain
the manual control solution of the robot as well as the possibility of executing complex
autonomous motions with the robot.
The holonomic robot with the robot arm itself is not able to meet the industrial requirements
itself - because of its size-, but it can be used as a demonstration and reconstruction
material. In the Thesis, the controlling of the robot platform and the robot arm is implemented
using the methods of the control theory. After that, I integrate the robot to the
KUKA Sunrise Workbench, a KUKA engineering software. Doing this, the youBot will be
able to perform all the previously implemented motions, so that those can be inspected
and even improved in the future. Having the integrated into the Sunrise Workbench, the
robot will be a part of a working system that is already being used in several places in the
The final result of this thesis is an automated guided vehicle which is able to perform
and reconstruct tasks in a real production example, cooperating with other robots while
being part of the Industry 4.0 information system.