I’m experimenting with the Hand-E Gripper on a UR5e and trying to implement a routine where the gripper follows a dynamic path using a remote TCP offset (to simulate adaptive alignment).

Has anyone tried something like this before? I’m curious how stable the motion is with payload variance, especially during real-time adjustments. Any best practices or URCap tricks you’ve used would be awesome to hear.

Appreciate any insights, trying to make it as smooth and repeatable as possible!

Jhonn Mick

“When businesses invest in automation, their main goal is to increase throughput. But many underestimate how much the charging strategy impacts the efficiency of their fleets,” explains Julian Seume, Director at Wiferion – a PULS business unit. “It’s not just about powering the robots. How they’re charged can determine whether the entire material flow runs smoothly and economically.”

Overlooked Costs: Downtime and Space

Conventional charging concepts typically require vehicles to move to dedicated charging zones for extended periods, causing idle times that are rarely factored into initial planning. This downtime poses a significant issue in high-demand environments such as e-commerce and production logistics, where even brief delays can disrupt the entire supply chain.

Another commonly underestimated cost factor is the physical space needed for charging. Every square meter used for a charging station is one that cannot be utilized for value-adding processes. “In many warehouse and production settings, space is a scarce commodity,” says Seume. “Companies need to decide whether they truly want to reserve precious floor area for charging—or whether there’s a better way.”

The Challenge of Mixed Fleets

Complexity grows when fleets comprise different robot brands, each requiring its own charging system. Installing separate infrastructures not only increases initial costs but also complicates fleet expansion, as every new vehicle may demand unique charging hardware.

Integrating Energy Supply into the Process

One strategy to maximize uptime is to integrate charging into routine operations—known as “in-process charging.” Rather than removing robots from service for lengthy periods, energy top-offs are administered in multiple short intervals, for example during brief pauses at transfer stations. This approach prevents unnecessary downtime and keeps vehicles constantly ready for use.

A study by MHP – A Porsche Company found that companies embracing optimized charging infrastructure can boost AMR or AGV fleet productivity by up to 50%. In addition, those that have successfully integrated process-based charging often see a reduced need for extra robots, since there is no requirement for backup vehicles during charging breaks.

Future-Proof Flexibility Through Standardization

Businesses eyeing fleet expansion should consider the benefits of a standardized charging infrastructure early on. “Many of our customers realized that their old charging system became a bottleneck once they tried to grow,” notes Seume. By selecting a cross-manufacturer charging solution, companies can seamlessly integrate new vehicles into existing operations, avoiding the high costs of multiple, incompatible systems.

When to Make the Switch

Organizations starting with a small AMR fleet often reach a point where inefficient charging processes can no longer be ignored—usually when the fleet is set to expand. A leading car manufacturer, for instance, discovered it could not feasibly increase its fleet size without overhauling its charging approach. By switching to an in-process charging concept, the company achieved a 30% increase in operating time per robot and reclaimed valuable space previously reserved for charging zones.

“There comes a time when companies must recognize that upgrading their charging infrastructure is not just a technical fix but a strategic business decision,” Seume points out.

Conclusion: Energy Supply as a Key Success Factor

Automating intralogistics aims to optimize processes and reduce costs. Yet without a thorough energy supply strategy, issues like downtime, space constraints, and costly infrastructure can undermine those gains. Businesses that opt for integrated charging systems benefit from maximum uptime, lower space requirements, and more flexibility in scaling AMR fleets.

“The right charging strategy isn’t just about technology,” concludes Seume. “It’s a crucial element in ensuring the economic viability of an automation project. Companies that plan for their energy needs from the start are far more likely to realize the full benefits of their AMR investments.”

Key Features of the AGILOX OFL

Omnidirectional Mobility

The AGILOX OFL utilizes an omnidirectional drive system, allowing it to navigate tight spaces and operate efficiently in dynamic environments.

Advanced Safety Measures

Equipped with a 360° protection zone and enhanced obstacle detection through 3D sensors, the AGILOX OFL ensures safe operation even in the presence of unforeseen obstacles.

User-Friendly Interface

An integrated display provides real-time status updates, facilitating straightforward interaction and maintenance.

Intelligent Load Handling

Laser distance sensors in the forks enable the AGILOX OFL to detect available storage slots, optimizing the stacking and storing process.

Seamless Integration with X-SWARM Technology

The AGILOX OFL operates on AGILOX's proprietary X-SWARM technology, enabling direct communication and collaboration with other AGILOX AMRs. This decentralized system allows the fleet to manage transport orders intelligently, adapt to environmental changes, and maintain operational continuity even if a unit becomes unavailable.

Technical Specifications

• Dimensions (L x W x H): 1,655 x 800 x 1,988 mm (65.2 x 31.5 x 78.3 inches)

• Dead Weight: 575 kg (1,268 lbs)

• Maximum Lifting Weight: 800 kg (1,764 lbs)

• Maximum Station Height: 1,200 mm (47.2 inches)

• Turning Circle: 2,200 mm (86.6 inches)

• Minimum Passage Width: 1,400 mm (55.1 inches)

• Minimum Aisle Width: 1,600 mm (63 inches)

• Maximum Speed: 1.4 m/s (4.6 ft/s)

• Drive Units: 4x omnidirectional drive units

AGILOX's commitment to innovation is further demonstrated through advancements in digital twin technology and simulation-based robot development. These technologies allow for the emulation and testing of application scenarios in virtual environments, optimizing processes and reducing costs.

With the AGILOX OFL, the company continues to set new standards in intralogistics, offering flexible and efficient solutions for modern warehouse and production environments.

A Synergy of Expertise

Automation has become a critical factor in optimizing warehouse and production logistics, and the collaboration between Robotize and ROEQ is poised to take this efficiency to new heights. By integrating ROEQ’s innovative top modules with Robotize’s GoPal® AMRs, businesses now have access to a seamless, intelligent material transport system that enhances workflow precision and productivity.

Roberto Giannetti, Global VP Sales & Marketing at Robotize, emphasizes the potential of this partnership: “The combination of ROEQ’s high-quality top modules with our GoPal® AMRs enables us to deliver comprehensive automation solutions that streamline operations and boost efficiency.”

For ROEQ, this partnership is a natural extension of their mission to enhance AMR functionality. CEO Michael Ejstrup Hansen explains, “We see a growing demand for flexible, reliable, and safe automation solutions. By working together with Robotize, we can develop tailored systems that address industry needs and drive innovation in intralogistics.”

Bringing Cutting-Edge Solutions to the Market

The first product to emerge from this collaboration is the ROEQ TMC300 top module, designed to equip the Robotize GoPal® P35 AMR with the capability to autonomously handle loads of up to 300 kg using the ROEQ Cart500. This solution allows for efficient transport, pick-up, and drop-off of goods within warehouse and production environments, reducing manual handling and improving overall operational safety.

Beyond this initial launch, the partnership is set to introduce a series of integrated solutions that cater to industries such as manufacturing, logistics, and warehousing. The emphasis will be on scalable, plug-and-play automation technologies that lower costs and enhance process efficiency.

The Future of Intralogistics Automation

As industries continue to evolve, the need for reliable automation solutions grows stronger. The collaboration between Robotize and ROEQ marks a significant step forward in addressing these demands with intelligent and adaptable AMR solutions. Businesses looking to optimize their intralogistics can expect more innovative offerings from this partnership in the near future.

For more information on available and upcoming solutions, visit ROEQ Solutions for Robotize.

About ROEQ

ROEQ (Robot Equipment) is a leading provider of top modules for mobile robots, enhancing the capabilities of AMRs. With a strong focus on reliability, easy integration, and high quality, ROEQ’s solutions—ranging from transport carts and lifting modules to conveyor systems—help businesses optimize their intralogistics and automation processes. Headquartered in Odense, Denmark, ROEQ supports industries worldwide with innovative and scalable solutions that maximize AMR potential. For more information, visit www.roeq.dk.

About Robotize

Robotize specializes in developing and manufacturing Autonomous Mobile Robots (AMRs) and related accessories for fully automated and secure internal material transport in production facilities, warehouses, and distribution centers. The unique GoPal® AMR solution optimizes intralogistics by safely and autonomously picking up, transporting, and delivering loads of up to 1200 kg. GoPal® AMRs are used across various industries, including automotive, pharmaceuticals, and food and beverage. Robotize is headquartered in Copenhagen, Denmark. For more information, visit www.robotize.com.

Enhancing AMR Productivity with Inductive Charging

Wiferion’s wireless charging system offers fast, high-efficiency power delivery of up to 60 amps. By significantly reducing the time required for AMRs to recharge, this technology maximizes uptime and improves overall system productivity. Unlike conventional contact-based charging methods, which are prone to wear and tear, inductive charging eliminates mechanical connections, making the system maintenance-free and highly durable.

Seamless Charging Integration for Continuous Operation

Wiferion’s solution enables in-process charging at designated stations, allowing AMRs to recharge while remaining operational. This innovation is particularly beneficial for systems with power-intensive add-ons, such as articulated arms and active conveyors, ensuring they receive a constant power supply. Another major advantage of Wiferion’s inductive charging is its ability to charge AMRs from underneath, seamlessly integrating into the facility’s infrastructure. This eliminates the need for manual docking, making it ideal for mobile robots with oversized accessories or trolleys.

A notable implementation of this technology is a large-scale deployment at a nine-million-square-foot automotive manufacturing facility in North America, carried out by RAMP. The integration of OMRON’s AMRs with Wiferion’s wireless charging system has helped optimize throughput, reduce fleet size, and eliminate idle charger space.

“Combining Wiferion’s wireless charging system with OMRON’s AMRs allowed us to solve a tough throughput problem for our customer, reduce fleet size, and save valuable floor space by eliminating idle charger space. This development ultimately led to the most cutting-edge solution," said Mike Balzan, Director of Sales at RAMP.

Meeting Cleanroom Standards with Contactless Charging

Wiferion’s inductive charging technology has been certified for ISO Class 4 by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. This certification makes it possible to safely charge and operate AMRs in cleanroom environments, where contamination from mechanical contact charging can be a concern. The fully sealed and contact-free design prevents particle abrasion and ensures a contaminant-free workspace.

“Wiferion’s wireless charging technology is the perfect complement to our opportunity charging feature available in FLOW 4.0.3 and above,” said Kyle Hable, Group Product Manager, Mobile Robotics at OMRON. “This allows us to offer a certified option suited for industries requiring stringent standards, such as automotive, semiconductor manufacturing, and cleanroom applications.”

Advancing Interoperability in AMR Energy Supply

The global deployment of Wiferion’s technology underscores the growing need for standardized energy solutions in automation. As businesses integrate mixed fleets of AMRs and automated guided vehicles (AGVs), the challenge of unifying charging infrastructure becomes critical. Wiferion and OMRON address this issue by promoting an interoperable energy supply solution with inductive charging.

With the rollout of Wiferion technology for the LD series, OMRON reinforces its mission to standardize energy and automation processes, increasing efficiency in AMR-driven material transportation. The adoption of inductive charging simplifies fleet management, reduces space requirements by eliminating designated charging zones, and lowers operational costs by supporting multi-brand compatibility.

“With the introduction of wireless charging, we are pioneering a new era of AMR interoperability. Our commitment is to establish a unified charging strategy for all OMRON mobile robots, eliminating vendor lock-in and reducing reliance on costly proprietary infrastructure,” added Kyle Hable.

Matthieu Ebert, Director Product & Technology at Wiferion - a PULS business unit, emphasized the impact of the collaboration: “With OMRON’s certification of our inductive charging technology, we are achieving a significant milestone. Integrators worldwide now have access to a reliable and high-performance wireless charging solution that maximizes uptime and enables new automation possibilities.”

A Future-Ready Charging Solution for AMRs

The partnership between OMRON and Wiferion marks a transformative step in AMR energy management. By eliminating charging downtime and offering a scalable, maintenance-free solution, the companies are setting new standards in automation. As industries continue to push for greater efficiency and seamless operation, the adoption of wireless charging technology is poised to become the new norm for autonomous mobile robotics.

"Our customers increasingly demand more powerful and easy-to-integrate automation solutions. With Sereact's AI technology, we can meet these requirements and offer businesses new opportunities for more efficient storage and order-picking processes," explains Tom Walther, Head of Robotic Solutions at Hörmann Intralogistics.

Sereact's solutions bring greater intelligence and autonomy to AutoStore systems. By employing zero-shot learning, picking robots can recognize and grasp new objects without prior programming or data input. This enables full automation of inbound goods, order picking, and returns processes. The high flexibility and straightforward implementation of the software allow seamless integration into existing warehouse management and control systems, such as the "HÖRMANN intra Logistics System" (HiLIS).

"Sereact's technology impressed us with its high flexibility and seamless integration into existing systems," says Walther. "This efficiency boost makes the solution highly valuable for us."

Beyond improved process security, the integration of smart robotics reduces error rates and boosts productivity. Companies can strategically mitigate labor shortages during peak growth periods and utilize existing resources more efficiently through automation.

Sereact Lens Enhances Inventory Transparency

For Sereact, this partnership marks a significant step in advancing warehouse automation. "With Hörmann Intralogistics, we have a strong partner who shares our vision of fully automated logistics," says Ralf Gulde, CEO of Sereact. "Together, we are bringing AI-powered robotics to where they create real value – in highly automated systems like AutoStore, which benefit from intelligent order picking and precise inventory control."

In addition to optimizing pick-and-place processes, Hörmann also relies on Sereact Lens, an AI-driven solution for inventory and quality control. This platform enables real-time monitoring of warehouse stock and automatically detects defective or incorrectly positioned items. By preventing process disruptions, Sereact Lens significantly enhances warehouse transparency. The combination of intelligent robotics and automated inventory control elevates AutoStore integration to a new level.

A Milestone for Automation

"We see immense potential for AI-based robotics in warehouse automation, and with Sereact, we have found a partner that perfectly complements our technology," emphasizes Walther. Sereact is recognized as a technology leader in AI robotics with an extensive portfolio of renowned references. Initial joint projects have already demonstrated the success of this partnership, with additional customer solutions in development.

"This collaboration proves that AI in logistics is no longer just a vision of the future but a tangible competitive advantage today," adds Gulde. "By joining forces, we are making automation more powerful – more efficient, more flexible, and more cost-effective than ever before."

The Limitations of Centralized Systems

A traditional automated guided vehicle (AGV) system is organized through a central fleet management system. This system oversees the entire process, determines when and where each robot should operate, and ensures seamless interaction among all vehicles. Even simple actions such as turning, stopping, or signaling are dictated by the central control. Acting as a central hub, it collects and processes all relevant data.

However, this centralized approach has its drawbacks. If the connection to the control system fails due to maintenance, network issues, or system errors, the entire fleet comes to a halt. Even a single malfunctioning vehicle can disrupt material flow. Moreover, the IT infrastructure requirements are substantial: Beyond expensive hardware and software investments, companies must also hire staff and acquire support contracts to ensure smooth operations. For small and medium-sized enterprises, these costs are often prohibitive.

Decentralized Control: More Flexibility with Swarm Intelligence

An alternative approach is decentralized, agent-based control. Here, robots do not function merely as executors of a central command but rather as independent agents within an intelligent network. The vehicles communicate directly with each other, continuously exchanging information about position, speed, and routes, and making autonomous decisions.

"Transport robots are comparable to organisms living in a society," explains Michael Reicheicher, CEO of SAFELOG GmbH. "They all know the rules and regulations they must follow, but they can act independently."

This swarm intelligence enables dynamic and adaptive route planning. Traffic flow, intersections, and pathways are coordinated in real-time between the involved vehicles without requiring central oversight. Even peripheral devices like elevators or conveyors can be integrated into the system: An elevator, for example, can communicate its current floor location, allowing the robot to independently decide whether to use it and when.

Advantages of Swarm Control

Agent-based control offers several advantages over traditional fleet management:

• High fault tolerance: Even if communication between individual robots is disrupted, the overall system remains functional. If a single robot fails, the rest continue operating.

• Flexibility in process changes: Workflow modifications can be implemented incrementally without halting or reconfiguring the entire system.

• Reduced costs: Expensive IT infrastructure, licensing fees, and maintenance contracts become unnecessary, making MTRs economically viable even for smaller businesses.

• Independence from external systems: Unlike centralized control, which often relies on stable Wi-Fi connections, agent-based systems can operate without continuous data synchronization.

Applications and Hybrid Integration with Centralized Systems

While decentralized control offers many benefits, there are scenarios where a central fleet management system remains advantageous. This is particularly true for heterogeneous vehicle fleets where different manufacturers and systems operate together. The VDA-5050 interface standard ensures interoperability, allowing different vehicle types to be managed within a single fleet.

However, centralized and decentralized approaches are not mutually exclusive. A hybrid model can leverage the strengths of both: While the fleet management system provides overarching directives, individual robots retain the ability to make independent decisions. This approach enhances efficiency and robustness in intralogistics processes.

Conclusion: Autonomy as the Key to Efficiency

The shift towards intelligent, self-organizing robotic swarms represents a paradigm shift in intralogistics. Agent-based systems provide a cost-effective, flexible, and resilient alternative to traditional fleet management, ensuring smooth operation without centralized oversight. Companies adopting this technology benefit from greater adaptability, reduced failure risks, and long-term cost savings. The future of transport robotics lies in intelligent autonomy – a system that, like a living organism, can adapt dynamically to the ever-changing demands of logistics.

I’ve been thinking about the differences between AGVs (Automated Guided Vehicles) and AMRs (Autonomous Mobile Robots). AGVs follow fixed paths, like magnetic strips or tracks, which makes them reliable but less flexible. On the other hand, AMRs use sensors and cameras to navigate dynamically, adapting to obstacles and changes in the environment.

In my opinion, AMRs are more suited for facilities where layouts change often or where flexibility is key, but they might be more complex to implement and maintain. AGVs, while simpler, still work well in predictable environments.

What’s your experience? Do you see a clear winner between the two, or does it depend on the application?

Grazie mille!