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3rd World Congress on Intelligent Control and Automation

作者： Wang, D Chen, YM Fang, MG He, YY Shanghai Univ CIMS & Robot Ctr Shanghai 200072 Peoples R China

ISBN: (纸本)7312012035

A new robot simulation and monitoring system has been developed. Running on Pentium II PCs with Windows 95 operation system and being developed with OpenGL, this system has the capacity of real-time simulating the motion of an industrial robot through 3D animation with ray tracing. Connected with the robot controller via network, users can monitor the behavior of the robot dynamically or even directly control the action of the robot if necessary. By comparing with the traditional off-line programming system, the framework and the functions of this system and the hardware and software platform of the system have been described. The principle of 3D-motion simulation and the considerations of geometry modeling and kinematics modeling have been discussed in more detail. Finally, the paper summarize the characteristics of the system and discusses the extension prospect of the system.

关键词： off-line programming simulation monitoring geometry modeling OpenGL PC

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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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Invited review: The synergy between virtual reality and robotics

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1999年第3期15卷 400-410页

作者： Burdea, GC Rutgers State Univ Dept Elect & Comp Engn Piscataway NJ 08854 USA

To a large extent the robotics and the newer virtual reality (VR) research communities have been working in isolation. This article reviews three areas where integration of the two technologies can be beneficial. First we consider VR-enhanced CAD design, robot programming, and plant layout simulation. Subsequently we discuss how VR is being used in supervisory teleoperation, for single operator-single robot systems, single operator multiplexed to several slave robots, and collaborative control of a single robot by multiple operators. Here VR can help overcome problems related to poor visual feedback as R-ell as system instabilities due to time delays. Finally, ne show how Robotics can be beneficial to VR in general, since robots ran serve as force feedback interfaces to the simulation. Newer back-drivable manipulators offer increased safety for the user that closely interacts with the robot. The synergy between the fields of Robotics and Virtual Reality is expected to grow in years to come.

关键词： haptic feedback off-line programming teleoperation virtual manufacturing virtual reality

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Simulation tools ease and speed assembly cell development

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ASSEMBLY AUTOMATION 1999年第2期19卷 121-125页

作者： Stringham, R Cimetrix Inc Salt Lake City UT USA

Typical assembly cell development requires that the hardware be mostly functional before significant software development can begin. Utilizing a software simulation of the hardware allows concurrent development of the hardware and software and provides many benefits including reduced time to market. Traditional simulation tools, though, are geared towards prototyping and early application development, but for advanced applications are of little or no use during later stages of development and deployment The Cimetrix CODE (Cimetrix Open Development Environment) system provides a unique solution that supports development of a single software application that can drive not only the simulation, but also the physical machine, without the use of a translator. CODE applications run on Windows NT and can take full advantage of the wide range of third party software and hardware available on that platform. This article will explore the use of simulation throughout the life cycle of an assembly cell, including project definition, development and maintenance, and discuss the benefits that simulation can provide.

关键词： cimetrix concurrent engineering off-line programming robotics simulation

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off-line programming of flexible welding manufacturing cells

Off-line programming of flexible welding manufacturing cells

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6th International offshore and Polar Engineering Conference

作者： Danni, LS Carvalho, GC Jardim, JOD Siqueira, ML AbsiAlfaro, SC UNIV BRASILIA DEPT MECH ENGN BR-70910 BRASILIA DF BRAZIL

ISBN: (纸本)1880653265

The use of robotized welding as a way to reach a better quality has demanded research of new technologies to integrate and test the systems. The complete control of a flexible manufacturing cell involves the perfect task synchronisation among all of its robots and equipment. off-line programming provides an essential link between CAD and CAM. The development of off-line programming systems should result in greater use of robots and accelerate the implementation of flexible manufacturing systems (FMS). It also offers an alternative for complex automated production lines and should allow rapid response to changing product/process issues. This article describes some features of graphic simulation and off-line programming focusing on its applications to robotized welding.

关键词： robot off-line programming welding

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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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Palletizing robots for the consumer goods industry

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INDUSTRIAL ROBOT 1998年第6期25卷 384-+页

作者： Hemmingson, E ABB Robot Prod Ab Hakan Brantmark Vasteras Sweden

FlexPalletizer IRE 640 is the name of a new palletizing robot developed by ABB that meets the special needs of the consumer goods industry, and particularly those of the foodstuffs' and beverage sector. A total of 1,200 palletizing cycles per hour and a handling capacity of 160kg are among the performance features that ensure fast pay-back of the capital investment. Modern software tools not only increase productivity but also lower the cost of operating the robot. PalletWizard, for example, allows users to create their own palletizing programs off-line and requires no special knowledge of programming. It works in a PC environment and allows the robot to be kept in production while new work cycles, etc., are being created.

关键词： off-line programming palletizing robots

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Development of a Robot Assembly Task Planning System

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IFAC Proceedings Volumes 1998年第7期31卷 23-28页

作者： Hongyan Sun Depanment of Information Technology Building 344 Technical University of Denmark DK-2800 Lyngby Denmark

Fine motions are introduced in most of robot assembly tasks, where slight errors in the motion of a robot can damage the object being manipulated. This paper discusses fine motion planning with focus on fine motion command generation and fine motion simulation in an integrated robot task planning system. The approach concerned is described and illustrated through a prototype implementation of a robot task planning system for the peg-into-hole assembly task.

关键词： Robotics off-line programming Robot programming Simulation Modelling Motion estimation Assembly robots

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Robotic TCF and rigid-body calibration methods

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ROBOTICA 1997年第6期15卷 633-644页

作者： Wang, XG Red, E Cimetrix Inc Salt Lake City UT USA BRIGHAM YOUNG UNIV DEPT MFG ENGN & ENGN TECHNOL PROVO UT 84602 USA

For off-line programming to work, systematic methods must be developed to account for non-ideal performance of the parts and devices in the manufacturing cell. Although much of the literature focuses on robot inaccuracy, this paper considers practical methods for the tool control frame (TCF) calibration and rigid-body compensation required to close the inverse kinematics loop for target driven tasks. In contrast to contemporary estimation methods, a closed-form, easily automated, solution is introduced for calibrating the position and orientation (pose) of orthogonal end-effecters when the distal robot joint is revolute. This paper also considers methods for measuring and compensating the small rigid-body perturbations that result from non-repeatable part delivery systems or from geometric distortion. These methods are designed to eliminate r theta error from the rigid-body prediction and can be conducted in real-time. Without accurate TCF calibration and rigid-body compensation, even the most accurate robot will fail to complete an off-line programmed task if the task tolerances are stringent.

关键词： tool and sensor calibration off-line programming rigid-body compensation

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Real-time inverse kinematics for robots with offset and reduced wrist

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CONTROL ENGINEERING PRACTICE 1997年第10期5卷 1443-1450页

作者： Pashkevich, A Department of Automatic Control Robotic Laboratory Belorussian State University of Informatics and Radioelectronics 6 P. Brovka St. Minsk 220600 Republic of Belarus

The paper deals with the inverse transformation of coordinates for robotic manipulators with high payload capacity, which are widely used in welding applications. Such manipulators are usually equipped with 3 d.o.f. offset wrists or 2 d.o.f reduced wrists, that do not satisfy the Pieper condition that ensures the existence of a closed-form solution of the inverse kinematics. Two reliable iterative algorithms are proposed to solve the problem in real time. The algorithms have been implemented in commercial robot controllers and software packages for the computer-aided design of welding robotic cells. Copyright (C) 1997 Elsevier Science Ltd.

关键词： robot kinematics iterative methods singularities on-line control off-line programming computer-aided design industrial production systems

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