{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T02:42:39Z","timestamp":1768444959113,"version":"3.49.0"},"reference-count":78,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2020,10,13]],"date-time":"2020-10-13T00:00:00Z","timestamp":1602547200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,10,13]],"date-time":"2020-10-13T00:00:00Z","timestamp":1602547200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100010661","name":"Horizon 2020 Framework Programme","doi-asserted-by":"publisher","award":["680734"],"award-info":[{"award-number":["680734"]}],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["UIDB\/50014\/2020"],"award-info":[{"award-number":["UIDB\/50014\/2020"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Adv Manuf Technol"],"published-print":{"date-parts":[[2021,7]]},"DOI":"10.1007\/s00170-020-06167-z","type":"journal-article","created":{"date-parts":[[2020,10,13]],"date-time":"2020-10-13T03:39:27Z","timestamp":1602560367000},"page":"853-871","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["On the development of a collaborative robotic system for industrial coating cells"],"prefix":"10.1007","volume":"115","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0532-9115","authenticated-orcid":false,"given":"Rafael","family":"Arrais","sequence":"first","affiliation":[]},{"given":"Carlos M.","family":"Costa","sequence":"additional","affiliation":[]},{"given":"Paulo","family":"Ribeiro","sequence":"additional","affiliation":[]},{"given":"Lu\u00eds F.","family":"Rocha","sequence":"additional","affiliation":[]},{"given":"Manuel","family":"Silva","sequence":"additional","affiliation":[]},{"given":"Germano","family":"Veiga","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,10,13]]},"reference":[{"key":"6167_CR1","doi-asserted-by":"publisher","unstructured":"Jazdi N (2014) Cyber physical systems in the context of industry 4.0. In: Automation, quality and testing, robotics, 2014, IEEE International Conference on IEEE, pp 1\u20134. https:\/\/doi.org\/10.1109\/AQTR.2014.6857843","DOI":"10.1109\/AQTR.2014.6857843"},{"issue":"9","key":"6167_CR2","doi-asserted-by":"publisher","first-page":"3565","DOI":"10.1007\/s00170-019-04595-0","volume":"105","author":"Y Cohen","year":"2019","unstructured":"Cohen Y, Faccio M, Pilati F, Yao X (2019) Design and management of digital manufacturing and assembly systems in the Industry 4.0 era. Int J Adv Manuf Technol 105 (9):3565\u20133577. https:\/\/doi.org\/10.1007\/s00170-019-04595-0","journal-title":"Int J Adv Manuf Technol"},{"issue":"1-4","key":"6167_CR3","doi-asserted-by":"publisher","first-page":"517","DOI":"10.1007\/s00170-019-03854-4","volume":"104","author":"RA Rojas","year":"2019","unstructured":"Rojas RA, Rauch E (2019) From a literature review to a conceptual framework of enablers for smart manufacturing control. Int J Adv Manuf Technol 104(1-4):517\u2013533. https:\/\/doi.org\/10.1007\/s00170-019-03854-4","journal-title":"Int J Adv Manuf Technol"},{"key":"6167_CR4","doi-asserted-by":"publisher","unstructured":"Sethi P, Sarangi SR (2017) Internet of things: architectures, protocols, and applications. J Electric Comput Eng 2017. https:\/\/doi.org\/10.1155\/2017\/9324035","DOI":"10.1155\/2017\/9324035"},{"key":"6167_CR5","doi-asserted-by":"crossref","unstructured":"Li K, Zhou T, Liu Bh (2020) Internet-based intelligent and sustainable manufacturing: developments and challenges. Int J Adv Manuf TechnoL. http:\/\/link.springer.com\/10.1007\/s00170-020-05445-0","DOI":"10.1007\/s00170-020-05445-0"},{"issue":"15","key":"6167_CR6","doi-asserted-by":"publisher","first-page":"2787","DOI":"10.1016\/j.comnet.2010.05.010","volume":"54","author":"L Atzori","year":"2010","unstructured":"Atzori L, Iera A, Morabito G (2010) The Internet of Things: a survey. Comput Netw 54(15):2787\u20132805. https:\/\/doi.org\/10.1016\/j.comnet.2010.05.010","journal-title":"Comput Netw"},{"key":"6167_CR7","unstructured":"Kagermann H, Lukas WD, Wahlster W (2011) Industrie 4.0: Mit dem internet der dinge auf dem weg zur 4. industriellen revolution, VDI nachrichten, 13(11)"},{"issue":"2","key":"6167_CR8","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1109\/MIE.2014.2312079","volume":"8","author":"R Drath","year":"2014","unstructured":"Drath R, Horch A (2014) Industrie 4.0: hit or hype? [Industry Forum]. IEEE Ind Electron Mag 8(2):56\u201358. https:\/\/doi.org\/10.1109\/MIE.2014.2312079. http:\/\/ieeexplore.ieee.org\/document\/6839101\/","journal-title":"IEEE Ind Electron Mag"},{"key":"6167_CR9","doi-asserted-by":"crossref","unstructured":"Hermann M, Pentek T, Otto B (2016) Design principles for industrie 4.0 scenarios. In: Proceedings of the Annual Hawaii International Conference on System Sciences 2016-March, pp 3928\u20133937. DOI:10.1109\/HICSS.2016.488,. arXiv:1011.1669v3","DOI":"10.1109\/HICSS.2016.488"},{"issue":"1","key":"6167_CR10","first-page":"37","volume":"8","author":"M Keller","year":"2014","unstructured":"Keller M, Rosenberg M, Brettel M, Friederichsen N (2014) How virtualization, decentrazliation and network building change the manufacturing landscape: an Industry 4.0 perspective. Int J Mech Aerospace Ind Mechatron Manuf Eng 8(1):37\u201344","journal-title":"Int J Mech Aerospace Ind Mechatron Manuf Eng"},{"key":"6167_CR11","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1016\/j.jclepro.2013.11.039","volume":"65","author":"NM Bocken","year":"2014","unstructured":"Bocken NM, Short SW, Rana P, Evans S (2014) A literature and practice review to develop sustainable business model archetypes. J Clean Prod 65:42\u201356. https:\/\/doi.org\/10.1016\/j.jclepro.2013.11.039","journal-title":"J Clean Prod"},{"key":"6167_CR12","doi-asserted-by":"publisher","first-page":"254","DOI":"10.1016\/j.techfore.2016.08.019","volume":"114","author":"CB Frey","year":"2017","unstructured":"Frey CB, Osborne MA (2017) The future of employment: how susceptible are jobs to computerisation? Technol Forecast Soc Change 114:254\u2013280. https:\/\/doi.org\/10.1016\/j.techfore.2016.08.019","journal-title":"Technol Forecast Soc Change"},{"key":"6167_CR13","doi-asserted-by":"publisher","unstructured":"Sha L, Gopalakrishnan S, Liu X, Wang Q (2008) Cyber-physical systems: a new frontier. In: 2008 IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC 2008), pp 1\u20139. https:\/\/doi.org\/10.1109\/SUTC.2008.85. http:\/\/ieeexplore.ieee.org\/document\/4545732\/","DOI":"10.1109\/SUTC.2008.85"},{"key":"6167_CR14","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1016\/j.mfglet.2014.12.001","volume":"3","author":"J Lee","year":"2015","unstructured":"Lee J, Bagheri B, Kao HA (2015) A cyber-physical systems architecture for Industry 4.0-based manufacturing systems. Manuf Lett 3:18\u201323. https:\/\/doi.org\/10.1016\/j.mfglet.2014.12.001","journal-title":"Manuf Lett"},{"issue":"1-4","key":"6167_CR15","doi-asserted-by":"publisher","first-page":"57","DOI":"10.1007\/s00170-014-6026-x","volume":"85","author":"M Ferreira","year":"2016","unstructured":"Ferreira M, Costa P, Rocha L, Paulo Moreira A (2016) Stereo-based real-time 6-degrees of freedom work tool tracking for robot programing by demonstration. Int J Adv Manuf Technol 85(1-4):57\u201369. https:\/\/doi.org\/10.1007\/s00170-014-6026-x","journal-title":"Int J Adv Manuf Technol"},{"key":"6167_CR16","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.rcim.2019.101820","volume":"101820","author":"S Ong","year":"2020","unstructured":"Ong S, Yew A, Thanigaivel N, Nee A (2020) Augmented reality-assisted robot programming system for industrial applications. Robot Comput Integr Manuf 101820:61. https:\/\/doi.org\/10.1016\/j.rcim.2019.101820","journal-title":"Robot Comput Integr Manuf"},{"key":"6167_CR17","doi-asserted-by":"publisher","unstructured":"Wojtynek M, Steil J, Wrede S (2019) Plug, plan and produce as enabler for easy workcell setup and collaborative robot programming in smart factories. KI - K\u00fcnstliche Intelligenz. https:\/\/doi.org\/10.1007\/s13218-019-00595-0","DOI":"10.1007\/s13218-019-00595-0"},{"key":"6167_CR18","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1016\/j.rcim.2018.11.011","volume":"57","author":"V Krueger","year":"2019","unstructured":"Krueger V, Rovida F, Grossmann B, Petrick R, Crosby M, Charzoule A, Garcia G, Behnke S, Toscano C, Veiga G (2019) Testing the vertical and cyber-physical integration of cognitive robots in manufacturing. Robot Comput Integr Manuf 57:213\u2013229. https:\/\/doi.org\/10.1016\/j.rcim.2018.11.011","journal-title":"Robot Comput Integr Manuf"},{"key":"6167_CR19","doi-asserted-by":"publisher","unstructured":"Marvel JA (2017) Sensors for safe, collaborative robots in smart manufacturing. In: 2017 IEEE sensors, pp 1\u20133. https:\/\/doi.org\/10.1109\/ICSENS.2017.8234264","DOI":"10.1109\/ICSENS.2017.8234264"},{"key":"6167_CR20","doi-asserted-by":"publisher","unstructured":"Teke B, Lanz M, K\u00e4m\u00e4r\u00e4inen J, Hietanen A (2018). In: 2018 14th IEEE\/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp 1\u20136. https:\/\/doi.org\/10.1109\/MESA.2018.8449156","DOI":"10.1109\/MESA.2018.8449156"},{"key":"6167_CR21","doi-asserted-by":"publisher","unstructured":"Samadikhoshkho Z, Zareinia K, Janabi-Sharifi F (2019) A brief review on robotic grippers classifications. In: 2019 IEEE Canadian Conference of Electrical and Computer Engineering (CCECE), pp 1\u20134. https:\/\/doi.org\/10.1109\/CCECE.2019.8861780","DOI":"10.1109\/CCECE.2019.8861780"},{"key":"6167_CR22","doi-asserted-by":"publisher","first-page":"248","DOI":"10.1016\/j.mechatronics.2018.02.009","volume":"55","author":"V Villani","year":"2018","unstructured":"Villani V, Pini F, Leali F, Secchi C (2018) Survey on human\u2013robot collaboration in industrial settings: Safety, intuitive interfaces and applications. Mechatronics 55:248\u2013266. https:\/\/doi.org\/10.1016\/j.mechatronics.2018.02.009","journal-title":"Mechatronics"},{"issue":"3","key":"6167_CR23","doi-asserted-by":"publisher","first-page":"841","DOI":"10.1007\/s00170-020-05363-1","volume":"108","author":"R Gervasi","year":"2020","unstructured":"Gervasi R, Mastrogiacomo L, Franceschini F (2020) A conceptual framework to evaluate human-robot collaboration. Int J Adv Manuf 108(3):841\u2013865. https:\/\/doi.org\/10.1007\/s00170-020-05363-1","journal-title":"Int J Adv Manuf"},{"issue":"1","key":"6167_CR24","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1007\/s00170-018-2625-2","volume":"100","author":"I Eimontaite","year":"2019","unstructured":"Eimontaite I, Gwilt I, Cameron D, Aitken JM, Rolph J, Mokaram S, Law J (2019) Language-free graphical signage improves human performance and reduces anxiety when working collaboratively with robots. Int J Adv Manuf 100(1):55\u201373. https:\/\/doi.org\/10.1007\/s00170-018-2625-2","journal-title":"Int J Adv Manuf"},{"issue":"3","key":"6167_CR25","doi-asserted-by":"publisher","first-page":"851","DOI":"10.1007\/s00170-019-04638-6","volume":"106","author":"L P\u00e9rez","year":"2020","unstructured":"P\u00e9rez L, Rodr\u00edguez-Jim\u00e9nez S, Rodr\u00edguez N, Usamentiaga R, Garc\u00eda D, Wang L (2020) Symbiotic human\u2013robot collaborative approach for increased productivity and enhanced safety in the aerospace manufacturing industry. Int J Adv Manuf 106(3):851\u2013863. https:\/\/doi.org\/10.1007\/s00170-019-04638-6","journal-title":"Int J Adv Manuf"},{"key":"6167_CR26","doi-asserted-by":"publisher","first-page":"02008","DOI":"10.1051\/matecconf\/201929902008","volume":"299","author":"M Mat\u00fasov\u00e1","year":"2019","unstructured":"Mat\u00fasov\u00e1 M, Buc\u00e1nyov\u00e1 M, Hruskov\u00e1 E (2019) The future of industry with collaborative robots. MATEC Web Conf 299:02008. https:\/\/doi.org\/10.1051\/matecconf\/201929902008","journal-title":"MATEC Web Conf"},{"key":"6167_CR27","unstructured":"Technical Committee: ISO\/TC 299 Robotics (2011a) ISO 10218-1:2011, Robots and robotic devices \u2014 Safety requirements for industrial robots\u2014 Part 1: Robots. Tech. rep., International Organization for Standardization"},{"key":"6167_CR28","unstructured":"Technical Committee: ISO\/TC 299 Robotics (2011b) ISO 10218-2:2011, Robots and robotic devices \u2014 Safety requirements for industrial robots\u2014 Part 2: Robot systems and integration. Tech. rep., International Organization for Standardization"},{"key":"6167_CR29","unstructured":"Technical Committee: ISO\/TC 299 Robotics (2016) ISO\/TS 15066:2016, Robots and robotic devices \u2014 Collaborative robots. Tech. rep., International Organization for Standardization"},{"issue":"June 2017","key":"6167_CR30","doi-asserted-by":"publisher","first-page":"248","DOI":"10.1016\/j.mechatronics.2018.02.009","volume":"55","author":"V Villani","year":"2018","unstructured":"Villani V, Pini F, Leali F, Secchi C (2018) Survey on human\u2013robot collaboration in industrial settings: safety, intuitive interfaces and applications. Mechatronics 55(June 2017):248\u2013266. https:\/\/doi.org\/10.1016\/j.mechatronics.2018.02.009","journal-title":"Mechatronics"},{"issue":"3","key":"6167_CR31","doi-asserted-by":"publisher","first-page":"253","DOI":"10.1016\/j.mechmachtheory.2007.03.003","volume":"43","author":"A De Santis","year":"2008","unstructured":"De Santis A, Siciliano B, De Luca A, Bicchi A (2008) An atlas of physical human-robot interaction. Mech Mach Theory 43(3):253\u2013270. https:\/\/doi.org\/10.1016\/j.mechmachtheory.2007.03.003","journal-title":"Mech Mach Theory"},{"key":"6167_CR32","unstructured":"Pilz, Ria and Robotic Industries Association and others (2008) The first safe camera system safetyeye opens up new horizons for safety & security"},{"key":"6167_CR33","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.rcim.2019.101846","volume":"101846","author":"E Magrini","year":"2020","unstructured":"Magrini E, Ferraguti F, Ronga AJ, Pini F, Luca AD, Leali F (2020) Human-robot coexistence and interaction in open industrial cells. Robot Comput Integr Manuf 101846:61. https:\/\/doi.org\/10.1016\/j.rcim.2019.101846","journal-title":"Robot Comput Integr Manuf"},{"issue":"6","key":"6167_CR34","doi-asserted-by":"publisher","first-page":"580","DOI":"10.1080\/0951192X.2016.1187297","volume":"30","author":"P Tsarouchi","year":"2017","unstructured":"Tsarouchi P, Matthaiakis AS, Makris S, Chryssolouris G (2017) On a human-robot collaboration in an assembly cell. Int J Comput Integr Manuf 30(6):580\u2013589. https:\/\/doi.org\/10.1080\/0951192X.2016.1187297","journal-title":"Int J Comput Integr Manuf"},{"issue":"1","key":"6167_CR35","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1007\/s00170-018-2788-x","volume":"101","author":"P Neto","year":"2019","unstructured":"Neto P, Sim\u00e3o M, Mendes N, Safeea M (2019) Gesture-based human-robot interaction for human assistance in manufacturing. Int J Adv Manuf 101(1):119\u2013135. https:\/\/doi.org\/10.1007\/s00170-018-2788-x","journal-title":"Int J Adv Manuf"},{"key":"6167_CR36","doi-asserted-by":"publisher","first-page":"102825","DOI":"10.1016\/j.autcon.2019.04.020","volume":"106","author":"P Tavares","year":"2019","unstructured":"Tavares P, Costa C, Rocha L, Malaca P, Costa P, Moreira A, Sousa A, Veiga G (2019) Collaborative welding system using BIM for robotic reprogramming and spatial augmented reality. Autom Constr 106:102825. https:\/\/doi.org\/10.1016\/j.autcon.2019.04.020","journal-title":"Autom Constr"},{"key":"6167_CR37","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1016\/j.rcim.2018.11.011","volume":"57","author":"V Krueger","year":"2019","unstructured":"Krueger V, Rovida F, Grossmann B, Petrick R, Crosby M, Charzoule A, Garcia GM, Behnke S, Toscano C, Veiga G (2019) Testing the vertical and cyber-physical integration of cognitive robots in manufacturing. Robot Comput Integr Manuf 57:213\u2013229. https:\/\/doi.org\/10.1016\/j.rcim.2018.11.011","journal-title":"Robot Comput Integr Manuf"},{"key":"6167_CR38","doi-asserted-by":"publisher","unstructured":"Lenz C, Nair S, Rickert M, Knoll A, Rosel W, Gast J, Bannat A, Wallhoff F (2008) Joint-action for humans and industrial robots for assembly tasks. In: RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication, pp 130\u2013135. https:\/\/doi.org\/10.1109\/ROMAN.2008.4600655","DOI":"10.1109\/ROMAN.2008.4600655"},{"key":"6167_CR39","doi-asserted-by":"publisher","unstructured":"Fast-Berglund \u00c5, Romero D (2019) Strategies for implementing collaborative robot applications for the operator 4.0. In: Production Management for the Factory of the Future. APMS 2019. IFIP Advances in Information and Communication Technology, IFIP International Federation for Information Processing, pp 682\u2013689. https:\/\/doi.org\/10.1007\/978-3-030-30000-5_83","DOI":"10.1007\/978-3-030-30000-5_83"},{"issue":"9","key":"6167_CR40","doi-asserted-by":"publisher","first-page":"3643","DOI":"10.1007\/s00170-019-03806-y","volume":"105","author":"A Cherubini","year":"2019","unstructured":"Cherubini A, Passama R, Navarro B, Sorour M, Khelloufi A, Mazhar O, Tarbouriech S, Zhu J, Tempier O, Crosnier A, Fraisse P, Ramdani S (2019) A collaborative robot for the factory of the future: Bazar. Int J Adv Manuf 105(9):3643\u20133659. https:\/\/doi.org\/10.1007\/s00170-019-03806-y","journal-title":"Int J Adv Manuf"},{"issue":"1","key":"6167_CR41","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1109\/LRA.2016.2535907","volume":"2","author":"L Johannsmeier","year":"2017","unstructured":"Johannsmeier L, Haddadin S (2017) A hierarchical human-robot interaction-planning framework for task allocation in collaborative industrial assembly processes. IEEE Robot Autom Lett 2(1):41\u201348. https:\/\/doi.org\/10.1109\/LRA.2016.2535907","journal-title":"IEEE Robot Autom Lett"},{"key":"6167_CR42","doi-asserted-by":"publisher","unstructured":"Makrini IE, Merckaert K, Lefeber D, Vanderborght B (2017) Design of a collaborative architecture for human-robot assembly tasks. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 1624\u20131629. https:\/\/doi.org\/10.1109\/IRobotOperatingSystem.2017.8205971","DOI":"10.1109\/IRobotOperatingSystem.2017.8205971"},{"key":"6167_CR43","doi-asserted-by":"crossref","unstructured":"Mart\u00ednez S, Carvajal A, Loza D, Ibarra A, Segura L (2017) Collaborative two-arm robotic torso for the development of an assembly process","DOI":"10.1109\/CHILECON.2017.8229675"},{"key":"6167_CR44","doi-asserted-by":"publisher","first-page":"108795","DOI":"10.1109\/ACCESS.2019.2931515","volume":"7","author":"F Zeng","year":"2019","unstructured":"Zeng F, Xiao JY, Liu H (2019) Force\/torque sensorless compliant control strategy for assembly tasks using a 6-DoF collaborative robot. IEEE Access 7:108795\u2013108805. https:\/\/doi.org\/10.1109\/ACCESS.2019.2931515","journal-title":"IEEE Access"},{"issue":"3","key":"6167_CR45","doi-asserted-by":"publisher","first-page":"1178","DOI":"10.1109\/TASE.2017.2748386","volume":"15","author":"B Sadrfaridpour","year":"2018","unstructured":"Sadrfaridpour B, Wang Y (2018) Collaborative assembly in hybrid manufacturing cells: an integrated framework for human\u2013robot interaction. IEEE Trans Autom Sci Eng 15(3):1178\u20131192. https:\/\/doi.org\/10.1109\/TASE.2017.2748386","journal-title":"IEEE Trans Autom Sci Eng"},{"key":"6167_CR46","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.rcim.2015.12.007","volume":"40","author":"A Cherubini","year":"2016","unstructured":"Cherubini A, Passama R, Crosnier A, Lasnier A, Fraisse P (2016) Collaborative manufacturing with physical human-robot interaction. Robot Comput Integr Manuf 40:1\u201313. https:\/\/doi.org\/10.1016\/j.rcim.2015.12.007","journal-title":"Robot Comput Integr Manuf"},{"key":"6167_CR47","doi-asserted-by":"publisher","unstructured":"Accorsi R, Tufano A, Gallo A, Gajhlizia F, Cocchi G, Ronzoni M, Abbate A, Manzini R (2019) An application of collaborative robots in a food production facility. 29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM 2019), June 24-28, 2019, Limerick, Ireland, Beyond Industry 4.0: Industrial Advances, Engineering Education and Intelligent Manufacturing, vol 38, pp 341\u2013348, DOI https:\/\/doi.org\/10.1016\/j.promfg.2020.01.044","DOI":"10.1016\/j.promfg.2020.01.044"},{"key":"6167_CR48","volume-title":"Springer handbook of robotics","author":"B Siciliano","year":"2007","unstructured":"Siciliano B, Khatib O (2007) Springer handbook of robotics. Springer, Berlin"},{"issue":"7-8","key":"6167_CR49","doi-asserted-by":"publisher","first-page":"680","DOI":"10.1007\/s00170-006-0746-5","volume":"35","author":"H Chen","year":"2008","unstructured":"Chen H, Xi N (2008) Automated tool trajectory planning of industrial robots for painting composite surfaces. Int J Adv Manuf 35(7-8):680\u2013696","journal-title":"Int J Adv Manuf"},{"issue":"1","key":"6167_CR50","doi-asserted-by":"publisher","first-page":"285","DOI":"10.1007\/s00170-019-03901-0","volume":"104","author":"Z Wang","year":"2019","unstructured":"Wang Z, Fan J, Jing F, Liu Z, Tan M (2019) A pose estimation system based on deep neural network and ICP registration for robotic spray painting application. Int J Adv Manuf 104(1):285\u2013299. https:\/\/doi.org\/10.1007\/s00170-019-03901-0","journal-title":"Int J Adv Manuf"},{"issue":"2","key":"6167_CR51","doi-asserted-by":"publisher","first-page":"82","DOI":"10.1109\/MRA.2018.2816972","volume":"25","author":"E Asadi","year":"2018","unstructured":"Asadi E, Li B, Chen I (2018) Pictobot: a cooperative painting robot for interior finishing of industrial developments. IEEE Robot Autom Mag 25(2):82\u201394. https:\/\/doi.org\/10.1109\/MRA.2018.2816972","journal-title":"IEEE Robot Autom Mag"},{"key":"6167_CR52","unstructured":"Object Management Group (2011) Business process model and notation 2.0 specification. https:\/\/www.omg.org\/spec\/BusinessProcessModelNotation\/2.0\/"},{"key":"6167_CR53","unstructured":"Silver B (2011) Bpmn method and style, with bpmn implementer\u2019s guide: a structured approach for business process modeling. sl: Cody"},{"key":"6167_CR54","doi-asserted-by":"publisher","unstructured":"List B, Korherr B (2006) An evaluation of conceptual business process modelling languages. In: Proceedings of the 2006 ACM Symposium on Applied Computing, pp 1532\u20131539. https:\/\/doi.org\/10.1145\/1141277.1141633","DOI":"10.1145\/1141277.1141633"},{"key":"6167_CR55","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-33143-5","volume-title":"Fundamentals of business process management, vol 1","author":"M Dumas","year":"2013","unstructured":"Dumas M, La Rosa M, Mendling J, Reijers HA et al (2013) Fundamentals of business process management, vol 1. Springer, Berlin. https:\/\/doi.org\/10.1007\/978-3-662-56509-4"},{"key":"6167_CR56","doi-asserted-by":"publisher","unstructured":"Erasmus J, Vanderfeesten I, Traganos K, Jie-A-Looi X, Kleingeld A, Grefen P (2018) A method to enable ability-based human resource allocation in business process management systems. In: IFIP Working Conference on the Practice of Enterprise Modeling, pp 37\u201352, Springer. https:\/\/doi.org\/10.1007\/978-3-030-02302-7_3","DOI":"10.1007\/978-3-030-02302-7_3"},{"key":"6167_CR57","doi-asserted-by":"publisher","unstructured":"Vanderfeesten I, Erasmus J, Traganos K, Bouklis P, Garbi A, Boultadakis G, Dijkman R, Grefen P (2019) Developing process execution support for high-tech manufacturing processes. In: Empirical studies on the development of executable business processes. Springer, pp 113\u2013142. https:\/\/doi.org\/10.1007\/978-3-030-17666-2_6","DOI":"10.1007\/978-3-030-17666-2_6"},{"key":"6167_CR58","doi-asserted-by":"publisher","unstructured":"Grefen P, Vanderfeesten I, Boultadakis G (2018) Developing a cyber-physical system for hybrid manufacturing in an internet-of-things context. In: Protocols and applications for the industrial internet of things. IGI Global, pp 35\u201363. https:\/\/doi.org\/10.4018\/978-1-5225-3805-9.ch002","DOI":"10.4018\/978-1-5225-3805-9.ch002"},{"issue":"6","key":"6167_CR59","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1109\/52.469759","volume":"12","author":"PB Kruchten","year":"1995","unstructured":"Kruchten PB (1995) The 4 + 1 view model of architecture. IEEE Softw 12(6):42\u201350. https:\/\/doi.org\/10.1109\/52.469759","journal-title":"IEEE Softw"},{"key":"6167_CR60","volume-title":"Business information system architecture fall 2016 edition","author":"P Grefen","year":"2016","unstructured":"Grefen P, Eshuis R, Mehandjiev N, Kouvas G, Weichhart G (2016) Business information system architecture fall 2016 edition. Eindhoven University of Technology, Eindhoven"},{"key":"6167_CR61","doi-asserted-by":"publisher","unstructured":"Erasmus J, Vanderfeesten I, Traganos K, Grefen P (2018) The case for unified process management in smart manufacturing. In: 2018 IEEE 22nd International Enterprise Distributed Object Computing Conference (EDOC). https:\/\/doi.org\/10.1109\/EDOC.2018.00035. IEEE, pp 218\u2013227","DOI":"10.1109\/EDOC.2018.00035"},{"key":"6167_CR62","unstructured":"Grefen P, Vanderfeesten I, Boultadakis G (2015) D2. 2a-complete system design-public version, Tech. rep., Eindhoven University of Technology"},{"issue":"4","key":"6167_CR63","doi-asserted-by":"publisher","first-page":"62","DOI":"10.3390\/machines6040062","volume":"6","author":"J Erasmus","year":"2018","unstructured":"Erasmus J, Grefen P, Vanderfeesten I, Traganos K (2018) Smart hybrid manufacturing control using cloud computing and the internet-of-things. Machines 6(4):62. https:\/\/doi.org\/10.3390\/machines6040062","journal-title":"Machines"},{"key":"6167_CR64","unstructured":"International Electrotechnical Commission (2003) International electrotechnical commission 62264-1 enterprise-control system integration\u2013part 1: models and terminology. IEC, Genf"},{"key":"6167_CR65","unstructured":"Camunda Services GmbH (2020) Camunda: Process Automation Reinvented for the Digital Enterprise. https:\/\/camunda.com\/"},{"key":"6167_CR66","doi-asserted-by":"publisher","unstructured":"Crick C, Jay G, Osentoski S, Pitzer B, Jenkins OC (2017) Rosbridge: Ros for non-ros users. In: Robotics research. Springer, pp 493\u2013504. https:\/\/doi.org\/10.1007\/978-3-319-29363-9_28","DOI":"10.1007\/978-3-319-29363-9_28"},{"issue":"5","key":"6167_CR67","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","volume":"57","author":"BD Argall","year":"2009","unstructured":"Argall BD, Chernova S, Veloso M, Browning B (2009) A survey of robot learning from demonstration. Rob Auton Syst 57(5):469\u2013483. https:\/\/doi.org\/10.1016\/j.robot.2008.10.024","journal-title":"Rob Auton Syst"},{"key":"6167_CR68","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1016\/j.robot.2015.09.030","volume":"76","author":"CM Costa","year":"2016","unstructured":"Costa CM, Sobreira HM, Sousa AJ, Veiga GM (2016) Robust 3\/6 dof self-localization system with selective map update for mobile robot platforms. Robot Auton Syst 76:113\u2013140. https:\/\/doi.org\/10.1016\/j.robot.2015.09.030","journal-title":"Robot Auton Syst"},{"key":"6167_CR69","doi-asserted-by":"publisher","first-page":"96","DOI":"10.1016\/j.imavis.2020.103898","volume":"103898","author":"C Sahin","year":"2020","unstructured":"Sahin C, Garcia-Hernando G, Sock J, Kim TK (2020) A review on object pose recovery: from 3d bounding box detectors to full 6d pose estimators. Image Vis Comput 103898:96. https:\/\/doi.org\/10.1016\/j.imavis.2020.103898","journal-title":"Image Vis Comput"},{"key":"6167_CR70","doi-asserted-by":"crossref","unstructured":"Rusu RB, Blodow N, Beetz M (2009) Fast point feature histograms (fpfh) for 3d registration. In: 2009 IEEE International Conference on Robotics and Automation, pp 3212\u20133217","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"6167_CR71","unstructured":"Filipe S, Alexandre LA (2014) A comparative evaluation of 3d keypoint detectors in a rgb-d object dataset. In: 2014 International conference on computer vision theory and applications (VISAPP), vol 1, pp 476\u2013483"},{"key":"6167_CR72","doi-asserted-by":"crossref","unstructured":"Rusu RB, Bradski G, Thibaux R, Hsu J (2010) Fast 3d recognition and pose using the viewpoint feature histogram. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp 2155\u20132162","DOI":"10.1109\/IROS.2010.5651280"},{"key":"6167_CR73","unstructured":"Bellekens B, Spruyt V, Berkvens R, Penne R, Weyn M (2015) A benchmark survey of rigid 3d point cloud registration algorithms. Int J Adv Intell Syst 1"},{"key":"6167_CR74","doi-asserted-by":"crossref","unstructured":"Yuan C, Yu X, Luo Z (2016) 3d point cloud matching based on principal component analysis and iterative closest point algorithm. In: International Conference on Audio, Language and Image Processing (ICALIP), pp 404\u2013408","DOI":"10.1109\/ICALIP.2016.7846655"},{"issue":"4","key":"6167_CR75","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1117\/1.OE.56.4.044107","volume":"56","author":"F Li","year":"2017","unstructured":"Li F, Stoddart D, Hitchens C (2017) Method to automatically register scattered point clouds based on principal pose estimation. Opt Eng 56(4):1\u201310. https:\/\/doi.org\/10.1117\/1.OE.56.4.044107","journal-title":"Opt Eng"},{"issue":"2","key":"6167_CR76","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1109\/34.121791","volume":"14","author":"PJ Besl","year":"1992","unstructured":"Besl PJ, McKay ND (1992) A method for registration of 3-d shapes. IEEE Trans Pattern Anal Mach Intell 14(2):239\u2013256","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"6167_CR77","unstructured":"Hedberg J, S\u00f6derberg A, Tegehall J (2011) How to design safe machine control systems: a guideline to en iso 13849-1"},{"key":"6167_CR78","doi-asserted-by":"publisher","unstructured":"Bessler J, Schaake L, Bidard C, Buurke JH, Lassen AE, Nielsen K, Saenz J, Vicentini F (2018) Covr\u2013towards simplified evaluation and validation of collaborative robotics applications across a wide range of domains based on robot safety skills. In: International Symposium on Wearable Robotics. Springer, pp 123\u2013126. https:\/\/doi.org\/10.1007\/978-3-030-01887-0_24","DOI":"10.1007\/978-3-030-01887-0_24"}],"container-title":["The International Journal of Advanced Manufacturing Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00170-020-06167-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00170-020-06167-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00170-020-06167-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,13]],"date-time":"2021-10-13T09:16:34Z","timestamp":1634116594000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00170-020-06167-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,13]]},"references-count":78,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,7]]}},"alternative-id":["6167"],"URL":"https:\/\/doi.org\/10.1007\/s00170-020-06167-z","relation":{},"ISSN":["0268-3768","1433-3015"],"issn-type":[{"value":"0268-3768","type":"print"},{"value":"1433-3015","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,10,13]]},"assertion":[{"value":"31 August 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 September 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 October 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of interest"}}]}}