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2011 IEEE International Conference on Computer Science and Automation Engineering(CSAE 2011)

作者： Haixiang Yu School of mechanical engineering Ningxia University Yinchuan,China Junfeng Shan,and Xuejun Zhu School of mechanical engineering Ningxia University Yinchuan,China

Robot is a programmable mechanical *** flexibility and intelligence largely depends on programming *** the expansion of applications and the increasing complexity of tasks,robotic off-line programming has aroused wide attention and has become a very active robotics research *** this paper,MOTOMAN-HP20 robot is the experimental *** off-line programming method is discussed in detail based on MotoSim EG *** the remote control process supported by MOTOCOM software,simulations and experiment of palletizing operation verify the efficiency and security of off-line programming technology.

关键词： MOTOMAN-HP20 off-line programming remote control palletization

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off-line programming trims time and cost of routing application

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INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 2004年第1期31卷 77-79页

作者： [Anonymous]

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Robot, Tool and Workcell Calibration: The Keys to Fully Integrate off-line programming

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IFAC Proceedings Volumes 1997年第20期30卷 105-110页

作者： F. Geuens A. Van den Bossche P. Blanckaert J. Van den Bossche J.F. Quinet KRYPTON Electronic Engineering N. V. Interleuvenlaan 86 B-3001 Leuven Belgium tel.: + 32(0)16/40.04.10 fax: + 32(0)16/40.03.86

A successful transfer of off-line prepared robot programs to the real physical setup is based on "robotic cell calibration". This concept covers robot calibration as well as tool and environment calibration, eliminating all deviations between simulation and reality. The contents and the industrial realisation of the different calibration steps are clarified. Suitable measurement systems, such as RODYM ® and GCS300 ® are presented as well as different possibilities and requirements for the exploitation of the calibration results.

关键词： off-line programming optical position and orientation measurements robot calibration tool calibration environment calibration error compensation

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Ropsim, A Robot off-line programming and Real-Time Simulation System Including Dynamics

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IFAC Proceedings Volumes 1991年第9期24卷 429-434页

作者： E. Trostmann F. Conrad L.F. Nielsen S. Trostmann Control Engineering Institute The Technical University of Denmark DK-2800 Lyngby Denmark

A new architecture for a model driven robot programming and real-time simulation system, ROPSIM, is presented and discussed. The new features of the system is described, such as neutral interface communication at input/output level using the ISO standard proposals STEP (extended) and ICR. Further the ROPSIM is based on the use of generic models for sensors, robot controller and robot arm geometry and kinetics in order to avoid dependency of dedicated robot models. The software is developed using the language C++ and key modules of the system is shortly described.

关键词： Robots Simulation Modeling Standardization STEP ICR off-line programming Neutral Interfaces Control Data transfer Communication

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Knowledge Based off-line programming of Industrial Robots

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IFAC Proceedings Volumes 1988年第16期21卷 443-451页

作者： R. Bernhardt M. Schahn G. Schreck Fraunhofer Institute for Production Systems and Design Technology Department of Automation Pascalstr. 8-9 D-1000 Berlin 10 FRG

The paper presents a concept and a first realization of a knowledge based off-line programming system. The design is based on an already developed system which was also applied for relevant production tasks. A characteristic feature of the system is a production task specific, dialog oriented user interface. For a flexible realization of the user interface knowledge based approaches have been applied. A concept for a first realization is presented.

关键词： off-line programming Industrial Robots Task Oriented programming Graphic Interactive programming Simulation Knowledge Based Approach

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A knowledge-based multipass welding distortion estimation method for a multi-robot welding off-line programming and simulation software

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Procedia Manufacturing 2020年 51卷 302-308页

作者： Hannu Lund Sakari Penttilä Tuomas Skriko LUT University P.O. Box 20 FI-53851 Lappeenranta Finland

The current robotic welding off-line programming software packages do not consider the effect of welding distortions although the welding distortions are well-known phenomena. Due to the distortions, off-line programmed robot programs will have inaccuracies in robot positions. The purpose of this study is to develop a method for estimating the welding distortions during the jigless multi-robot welding production using a robot welding off-line programming software as a simulation environment. The applied methodology is to measure distortions of welded S700 workpieces with laser scanner and by manual measurement, and create knowledge-based welding distortion estimation method in the simulation software. The results of this study indicate that the distortion in welded workpiece can be measured with laser scanner or manually and during simulation the robot was able to edit its position according to the measured estimation. Laser scanning was found to be preferred measuring method as the data can be collected digitally.

关键词： Welding distortions Laser line triangulation off-line programming Robot positioning Digital Twin

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Virtual Reality Application for Simulation and off-line programming of the Mitsubishi Movemaster RV-M1 Robot Integrated with the Oculus Rift to Improve Students Training

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Procedia Computer Science 2015年 75卷 107-112页

作者： Raúl Crespo René García Samuel Quiroz Tecnológico de Monterrey Calle del Puente #222 Col. Ejidos de Huipulco Tlalpan 14380 D. F. México

The overall purpose of this project is to test the impact and potential benefits of Virtual Reality technology by improving the current training methods for the operation of the Mitsubishi Movemaster RV-M1 Robot. The final application aims to achieve this goal by increasing the user's interactivity with the robot's features inside a virtual environment developed using the game engine Unity and the Oculus Rift headset for the virtual visualization. By using this application, on site operation time is decreased mainly by allowing off-line programming of the equipment. It also allows universities without or with limited industrial machinery to provide their students a way to learn and practice on industrial automation and robotics simulation topics without inconvenience. The application is designed to decrease the student's learning curve by displaying a complete virtual environment where the tridimensional model of the robotic arm can be visualized and programmed according to the real model's parameters and specifications. Joint type moving sequences are compiled into a file which afterwards can be transferred to the robot for real testing and execution. The system integrates a set of joysticks that allows the user to program each of the robot's joints as well as display several features of it in the virtual environment such as animations, images and text information that simplify the instructions shown in a printed manual. In order to find an optimized, collision-free movement sequence between two points an A* shortest path algorithm is implemented using some of the built-in tools and plugins available in Unity and its Asset store. As a result of this last feature, the application can create a comparison between the user's input sequence and a computer generated sequence based on the A* algorithm.

关键词： Virtual Reality Robotics off-line programming Unity Oculus Rift A* algorithm

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off-line path programming for three-dimensional robotic friction stir welding based on Bezier curves

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2018年第5期45卷 669-678页

作者： Kolegain, Komlan Leonard, Francois Chevret, Sandra Ben Attar, Amarilys Abba, Gabriel Inst Soudure Goin France Univ Lorraine Arts & Metiers ParisTech Design Mfg & Control Lab Metz France

Purpose Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deformation during the welding, because of the high forces induced by the process. This leads to tool deviation and incorrect orientation. There is currently no computer-aided manufacturing/computer-aided design (CAD) software for generating off-line paths which integrates robot deflections, and the main purpose of this study is to propose an off-line methodology to plan a path for RFSW with the integration of the deflections. Design/methodology/approach The approach is divided into two steps. The first step consists of extracting position and orientation data from CAD models of the workpieces and adding the deflections calculated with a deflection model to generate a suitable path for performing RFSW. The second step consists of the smooth fitting of the suitable path using Bezier curves. Findings The method is experimentally validated by welding a curved workpiece using a Kuka KR500-2MT robot. A suitable tool position and orientation were calculated to perform this welding, an experimental procedure was set up, a defect-free weld was performed and a high accuracy was achieved in terms of position and orientation. Practical implications This method can help manufacturers to easily perform RFSW for three-dimensional workpieces regardless of the lateral tool deviation, loss of the right orientation and control force stability. Originality/value The originality of this method lies in compensating for robot deflections without using expensive sensors, which is the most commonly used method for compensating for robot deflection. This off-line method can lead to a reduction in programming time in comparison with teach programming method and leads to reduced investment costs in comparison with commercial off-line programming packages.

关键词： off-line programming Path planning Deflection model Bezier curves Robotic friction stir welding

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Direct off-line robot programming via a common CAD package

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ROBOTICS AND AUTONOMOUS SYSTEMS 2013年第8期61卷 896-910页

作者： Neto, Pedro Mendes, Nuno Univ Coimbra Dept Mech Engn POLO 2 CEMUC P-3030708 Coimbra Portugal

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach. (C) 2013 Elsevier B.V. All rights reserved.

关键词： Intuitive robot programming CAD off-line programming

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Study and Development on off-line programming of a Robot for Laser Re-manufacturing

Study and Development on Off-line Programming of a Robot for...

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第三届北京国际快速成形及制造会议暨第二届北京国际生物制造会议

作者： JIN Xiao-shu YANG Xi-chen School of Machinery and Electron Institute of laser technology,Tianjin Polytechnic University,Tianjin 300160 School of Machinery and Electron,Institute of Laser Technology,Tianjin Polytechnic University,Tianjin 300160,China

An off-line programming system for laser re-manufacturing was studied and developed based on *** and information flow of off-line programming for laser remanufacturing robot was analyzed and the software structure of off-line programming was *** SolidWorks software can be used to design models of robot,workpiece,coaxial nozzle and *** the SolidWorks Application programming Interface(API),the VC++ and ATL are chosen to develop such modules as direct slicing for obtaining path data,path planning,process specification and control program automatic *** FANUC Roboguide software is used to realize graphical simulation.A direct slicing approach from SolidWorks solid models for obtaining path data is proposed and slicing example is given.

关键词： laser re-manufacturing robot off-line programming direct slicing

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