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A STRUCTURED GEOMETRIC DATABASE IN AN off-line ROBOT programming SYSTEM

ROBOTICA 1987年第4期5卷 333-339页

作者： VANAKEN, L VANBRUSSEL, H Mechanical Engineering Department Katholieke Universiteit Leuven Leuven (Belgium)

This work describes a hierarchically structured geometric database in an off-line robot programming system. The data structure contains the numerical definition of the frame variables, as well as an indicator of the respective reference frames. Moreover, the physical relations between the objects in the environment are included. The database is implemented such that it continuously reflects the actual structure of the environment. As a result, all calculations of the frame locations are carried out automatically. Moreover, the programming system is capable to autonomously updating the numerical information after changes in the environment. Making this database the heart of a robot programming system greatly simplifies the off-line programming of complex robot tasks, like f.i. assembly tasks.

关键词： off-line programming Geometric Database Robot System

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Design of off-line programming method

Design of off-line programming method

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IET International Conference on Information Science and Control Engineering 2012 (ICISCE 2012)

作者： Zh.J. Yin J.F. Shan X.J. Zhu College of Mechanical Engineering Ningxia University Yinchuan 750021 China Ningxia University Yinchuan Ningxia CN

ISBN: (纸本)9781629939254

Robot is one kind of mechanical equipment and it's reprogrammable and multifunctional. Its versatility largely depends on programming ability. off-line programming method has the advantage of improving working efficiency and planning complex trajectory. It has aroused great interest in the field of motion control. In this paper, we designed new off-line programming method by LabVIEW software for MOTOMAN-HP20 robot. This method can be used to solve the forward and inverse kinematics of robot, complete off-line programming for any known curves in space and 2-dimensional unknown curves, and generate automatically the program file to realize robot motion control. The above results have been proved by experiment.

关键词： Robot off-line programming Motion control LabVIEW Motor Control Robot Laboratory Virtual Instrumentation Engineering Workbenc online programming programming program file off line Machinery and equipment Robot kinematics inverse kinematics

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LOLA, an Advanced End-Point Level off-line Robot programming System

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CIRP Annals - Manufacturing Technology 1987年第1期36卷 297-300页

作者： Van Brussel, H. Van Aken, L. De Schutter, J.

A research project is presented dealing with the design of an explicit off-line robot programming system called LOLA (Leuven off-line LAnguage), with innovative features with respect to existing languages like VAL, AL, ... Frames are used as manipulation variables. However, the system is supported by a world model, the structuring capabilities of which enable the user to reason in terms of the manipulation of objects. In view of new robot applications requiring faster movements with high accuracy, the system offers a wide variety of motion specification mechanisms yielding excellent dynamic performance. A general compliant motion strategy, based on force sensor inputs, is incorporated in the programming system. A generalisation to other sensor types like vision, proximity, contact sensors is also provided. © 1987 CIRP.

关键词： compliant motion data bases off-line programming Robotics trajectory generation

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An off-line robot-programming system with graphics simulation

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The International Journal of Advanced Manufacturing Technology 1991年第4期6卷 328-345页

作者： Wong, T.N. Hsu, S.C. Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam Road Hong Kong

This paper describes an experimental off-line robot-programming system. This integrated robot-programming system, PC-R, was designed to be independent of the robot as well as to provide off-line graphics simulation of the work situation so that evaluation of the performance could be done rapidly. PC-R comprises several modules, including (a) a robot language compiler;(b) a graphics simulator for modelling the robot and its work environment;(c) a solid-modeller based on the CSG scheme using the technique of ray tracing for solid analysis and visualisation, which interfaces with the simulator and performs interference analysis of the robot programs;and (d) a link to the industrial robot ASEA IRB-6. This ASEA link module is capable of manoeuvring the robot according to the robot programs in real time as well as saving the sequence of robot movements to the robot-controller for later playback execution by the robot. © 1991, Springer-Verlag London Limited. All rights reserved.

关键词： Graphics simulation off-line programming Robot language

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DEVELOPMENT OF A CAD/CAM ROBOTIC TRANSLATOR FOR programming THE IBM 7535 SCARA ROBOT off-line

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COMPUTERS IN INDUSTRY 1992年第2期20卷 219-228页

作者： KAMISETTY, KV MCDERMOTT, KJ ARIZONA STATE UNIV CIM SYST RES CTRDEPT IND & MANAGEMENT SYST ENGNTEMPEAZ 85287 NEW JERSEY INST TECHNOL DEPT MECH & IND ENGNNEWARKNJ 07102

The objective of this paper is to carefully examine the important issues involved in the design and development of a CAD/CAM translator for an industrial robot and report the successful development of a translator for the IBM 7535 SCARA (Selective Compliance Assembly Robotic Arm) robot to convert the simulation data from McDonnell Douglas' PLACE system to AML/E at New Jersey Institute of Technology (NJIT). SCARA robots are widely used in assembly operations and the translator serves as the interface between the CAD system and the robot controller. It has been found that there are numerous significant advantages, such as off-line programming (OLP), of using such a translator in various manufacturing industries. OLP involves the translation of positioning instructions, process parameters and other appropriate instructions to the robot's native language. The translator output is then generally downloaded to the robot controller directly. This paper concentrates on the process followed in designing and developing such a robotic translator for the IBM 7535 robot. Various issues and challenges encountered along the way are described in detail. The Evans & Sutherland CAD system and the McDonnell Douglas robotic simulation software comprising four software packages, namely PLACE, BUILD, ADJUST and COMMAND, have been used for simulating the workcell.

关键词： ROBOTIC TRANSLATOR off-line programming SIMULATION AML/E LANGUAGE IBM 7535 SCARA ROBOT

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GRAPHICAL SIMULATION FOR SENSOR BASED ROBOT programming

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1992年第1期5卷 49-62页

作者： TARNoff, N JACoff, A LUMIA, R 1. Robot Systems Division National Institute of Standards and Technology (NIST) 20899 Gaithersburg MD USA

The programming of robots is slowly evolving from traditional teach pendant method to graphical off-line programming (OLP) methods. Graphical simulation tools, such as OLP, are very useful for developing and testing robot programs before they are run on real industrial equipment. OLP systems are also used to develop task level programs. Traditional OLP systems, however, suffer from the limitations of using only position control which does not account for inherent robot inaccuracies and dynamic environments. This paper describes our work on improving and supplementing traditional position control programming methods. A baseline OLP system was implemented at NIST's Automated Manufacturing Research Facility (AMRF). Experience gained in implementing this system showed that an effective OLP system must accurately simulate the real world and must support sensor programming to compensate for real-world changes that cannot be simulated. The developed OLP geometric world model is calibrated using robot mounted ultrasound ranging sensor. The measurement capability produces a baseline geometric model of relatively good static accuracy for off-line programming. The graphical environment must also provide representations of sensor features. For this specific application, force is simulated in order to include force based commands in our robot programs. These sensor based programs are able to run reliably and safely in an unpredictable industrial environment. The last portion of this paper extends OLP and describes the functionality of a complete system for programming complex robot tasks.

关键词： off-line programming ROBOT programming SIMULATION COMPUTER GRAPHICS SENSOR programming SENSOR MODELING ROBOTICS WORLD MODELING CALIBRATION

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Automatic programming for industrial robot to weld intersecting pipes

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2015年第9-12期81卷 2099-2107页

作者： Shi, Lei Tian, Xincheng Zhang, Chenghui Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China

An articulated robot cooperated with a positioner is widely used in the field of intersecting pipes welding. In order to resolve the bottlenecks in productivity caused by the burdensome manual teaching process, this article presents an algorithm to generate motion codes for industrial robot to weld intersecting pipes. A unique welding scheme that simplifies welding technology complexity is introduced and adopted. Based on the geometrical model of intersecting pipes with the most complex intersecting mode, the welding trajectory planning is developed which contains posture planning of the welding torch and weaving welding control strategy. Then the welding trajectory is decomposed into the motion of the robot torch and the positioner, and the spatial relationship between the torch and the robot base is described with homogeneous transformation matrix. Finally, an algorithm flow chart with welding speed control strategy is provided for generating robot motion codes. Simulation and welding experiment verify the feasibility of the algorithm.

关键词： Industrial robot Intersecting pipes Weld off-line programming

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A convex programming approach to the base placement of a 6-DOF articulated robot with a spherical wrist

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2019年第9-12期102卷 3135-3150页

作者： Son, Seung-Woo Kwon, Dong-Soo Korea Adv Inst Sci & Technol Dept Mech Engn 291 Daehak Ro Daejeon 34141 South Korea

Robot manipulators are widely used in various areas of industrial factory automation. However, their base positioning is still achieved through trial-and-error methods based on the intuition and expertise of the engineer, even with the use of off-line programming software. Most previous studies do not provide on-line or on-site solutions suitable for practical applications because the nonlinearity and derivative complexity of the robot kinematics result in heavy computational burden and lengthy processing times. In this paper, we suggest a convex programming approach that uses time-efficient and reliable methods to solve the optimization problem in order to determine the base position of a six-degrees-of-freedom articulated robot with a spherical wrist. The proposed method uses convex optimization to accurately check the reachability of the given task without solving the inverse kinematics and to determine the feasible base position to satisfy singularity avoidance and spatial limitations. The feasibility of the proposed method is evaluated through various simulations, and the results show that not only the feasible base position but also the range of allowable base locations as an ellipsoidal volume can be provided within a few minutes without high computing performance or large resources.

关键词： Robot placement Robot positioning off-line programming Robot cell design Convex optimization

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Task-oriented programming of large redundant robot motion

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 1998年第5-6期14卷 363-375页

作者： Westkämper, E Schraft, RD Schweizer, M Herkommer, TF Meissner, A Fraunhofer Inst Mfg Engn & Automat D-70569 Stuttgart Germany

Large robots are a new domain of advanced robotics. Examples of their application fields are tasks like operations on large free-form surfaces, especially aircraft cleaning and removing paint from hulls. They are equipped with a programmable robot control comparable to a control system used for industrial robots. However, conventional teach-in methods are not able to manage the complexity of programming large redundant robot operation on free-form geometries. The Fraunhofer IPA has developed an innovative off-line programming system that allows the creation of robot motion programs which satisfy time and energy optimization criteria. This system helps to avoid collisions within the workspace and to fulfill conditions that arise from the robot kinematics and dynamics. This advanced programming system has been successfully used to generate motion programs for the world's largest mobile robot, the aircraft cleaning manipulator SKYWASH. In this context offline programs for eleven different types of aircraft have been developed. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： redundant robot motion planning trajectory generation task oriented programming off-line programming spline interpolation

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Active vision system for planning and programming of industrial robots in one-of-a-kind manufacturing

Active vision system for planning and programming of industr...

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Conference on Intelligent Robots and Computer Vision XIV - Algorithms, Techniques, Active Vision, and Materials Handling

作者： Berger, U Schmidt, A UNIV BREMEN BIBAD-28335 BREMENGERMANY

ISBN: (纸本)0819419524

The aspects of automation technology in industrial one-of-a-kind manufacturing are discussed. An approach to improve the quality and cost relation is developed and an overview of an 3D- vision supported automation system is given. This system is based on an active vision sensor for 3D-geometry feedback. Its measurement principle, the coded light approach, is explained. The experimental environment for the technical validation of the automation approach is demonstrated, where robot based processes (assembly, arc welding and flame cutting) are graphically simulated and off-line programmed. A typical process sequence for automated one- of-a-kind manufacturing is described. The results of this research development are applied to a project on the automated disassembling of car parts for recycling using industrial robots.

关键词： one-of-a-kind manufacturing industrial robot active vision structured light approach 3D-measurement geometry feedback process simulation off-line programming assembly arc welding flame cutting disassembling car recycling

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