In this paper, details are presented on how physical objects interact with conceptual models in Factory of the Future (FoF) scenarios. For this reason, a hierarchical three layer structure - for physical objects, models and concepts - is described as part of the Knowledge-based Robotics (KbR) approach. Focusing on the integration of physical objects and models, the need for service-driven enrichment emerges. Thereby, the extension of physical objects with cyber twins is realized for enabling service capabilities like monitoring and control. For their development, an architecture is introduced based on the integration of logical and physical components. This is validated in the OMiLAB environment using the OMiRob case. The conceptual approach proves the capability of applying service-driven enrichment to physical objects using metamodeling techniques.

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