Automating the Handling Process of a Coffee Machine Using a Robotic Manipulator

The study RoboCafe explores the automation of a lever-action coffee-making system using a FANUC robotic manipulator controlled by a PLC complying with ISA-88 standards. The robotic arm, equipped with a specialized gripper, is designed to handle various components of the coffee-making system, including operating a lever-action coffee machine and grinder. A virtual simulation of the system was developed to test and validate the system before physical implementation using virtual commissioning techniques. Strength measurement confirmed the robotic arm's capability to exert the required force for coffee machine operation. Using standard industrial communication such as Modbus TCP, the cooperation between heterogenous controllers can be established in case other communication protocol is not supported.