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4th IFAC Workshop on Algorithms and Architectures for Real-Time Control (AARTC 97)

作者： Pashkevich, A Belarussian State Univ Informat & Radioelect Dept Automat Control Robot Lab Minsk 220600 BELARUS

ISBN: (纸本)0080429300

The paper deals with inverse transformation of coordinates for robotic manipulators with high payload capacity that 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 Pieper condition that ensure existence of inverse kinematics closed-form solution. Two reliable iterative algorithms are proposed to salve the problem in real time. The proposed algorithms have been implemented in commercial robot controllers and software packages for computer-aided design of welding robotic cells.

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

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Controlling mechanisms over the Internet

Controlling mechanisms over the Internet

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Conference on Open Architecture Control Systems and Standards

作者： Lumia, R Univ. of New Mexico (United States)

ISBN: (纸本)0819423149

The internet, widely available throughout the world, can be used to control robots, machine tools, and other mechanisms. This paper will describe a low-cost virtual collaborative environment (VCE) which will connect users with distant equipment. The system is based on PC technology, and incorporates off-line-programming with on-line execution. A remote user programs the system graphically and simulates the motions and actions of the mechanism until satisfied with the functionality of the program. The program is then transferred from the remote site to the local site where the real equipment exists. At the local site, the simulation is run again to check the program from a safety standpoint. Then, the local user runs the program on the real equipment. During execution, a camera in the real workspace provides an image back to the remote user through a teleconferencing system. The system costs approximately $12.5K, and represents a low-cost alternative to the Sandia National Laboratories VCE.

关键词： Internet robot control distance learning virtual collaborative environment off-line programming

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Real-Time Inverse Kinematics for Robots with offset and Reduced Wrist

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IFAC Proceedings Volumes 1997年第3期30卷 191-196页

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

The paper deals with inverse transformation of coordinates for robotic manipulators with high payload capacity that 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 Pieper condition that ensure existence of inverse kinematics closed-form solution. Two reliable iterative algorithms are proposed to solve the problem in real time. The proposed algorithms have been implemented in commercial robot controllers and software packages for computer-aided design of welding robotic cells.

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

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AUTOMATED INVERSE-KINEMATICS FOR ROBOT off-line programming

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ROBOTICA 1994年第1期12卷 45-53页

作者： RED, WE GONG, SW Department of Mechanical Engineering Brigham Young University Provo Utah 84602 (USA). Department of Mechanical Engineering Tennessee Tech. University Cookeville TN 38501 (USA).

Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate Denavit-Hartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation. To reduce the number of closed-form inverse-kinematics solutions required for a broad class of serial robots, additional methods account for differences in robot zero state, base frame location, and joint polarity. Further generalization results from using joint frame decoupling to map lower degree-of-freedom robots into the inverse-kinematics solutions of higher degree-of-freedom robots.

关键词： off-line programming INVERSE KINEMATICS ROBOTS AUTOMATED METHODS

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Spatial contours for vision and CAD model matching

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IMAGE AND VISION COMPUTING 1996年第2期14卷 147-157页

作者： Lucas, Y Redarce, T Jutard, A INST NATL SCI APPL LAB AUTOMAT INDF-69621 VILLEURBANNEFRANCE

off-line programming techniques for artificial vision systems attempt to exploit existing databases. Sparing the reference image of a real part, the learning process is essentially based on 3D geometrical models, little adapted to image analysis. We suggest an intermediate description using spatial outlines, including global and local data. The former eliminate a large number of potential cases and the latter ensure the validity of the remaining solutions. This is a composite approach for the pattern matching process. The learning phase supplies us with a vision-oriented description obtained from a CAD model. inversely, during the recognition phase, a CAD-oriented description is extracted from an image sequence. Tested on polyhedric samples and applied in the robotic field, this description has proved to be simple, robust and precise for part identification and localization using monocular vision.

关键词： artificial vision computer-aided design off-line programming matching spatial contours

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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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Concept evaluation trials of teleoperation system for control of an underwater robotic arm by graphical simulation techniques

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 1995年第5期17卷 242-250页

作者： Boyle, BG McMaster, RS Nixon, JH [o_1]The Marine Technology Dept Cranfield University Bedfordshire MK43 0AL. UK [o_2]The Marine Technology Dept Cranfield University Bedfordshire MK43 0AL. UK [o_3]The Marine Technology Dept Cranfield University Bedfordshire MK43 0AL. UK

In the main, the current control method for underwater manipulators involves a master-slave robot configuration combined with visual feedback provided by closed-circuit TV from a number of ROV mounted cameras. In order to overcome the various drawbacks of this system, a new method of both control and feedback, utilising simulation software developed for off-line programming, is currently under development at Cranfield. This paper describes these new methods, and summarises the need for them and their inherent advantages over current technology. It also includes a description of the first stages of their development and the evaluation experiments which were used to judge the feasibility of the continuance of the project.

关键词： manipulators underwater robotics real time simulation off-line programming

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Preprocessing for acceleration of collision detection

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IFAC Proceedings Volumes 1994年第14期27卷 789-794页

作者： C.H. Fedrowitz R. Kammüller University of Siegen Department of Electrical Engineering and Computer Science Siegen Germany

This paper presents a method for fast and reliable collision detection in complex production cells which is part of the PC-based robot off-line programming system of the University of Siegen (Ropsus). The cell objects are composed of primitive solids. All solids are bounded by orthogonal boxes which can be tested for collision very fast only by checking their vertices. Based on Cameron's S-bound theory an algorithm for preprocessing has been derived which reduces the complexity of the production cell by eliminating most of the collision-free solids very fast, i. e. with time depending linearly on the number of solids.

关键词： Computer graphics industrial robots model reduction simulation off-line programming collision detection

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The Realistic Robot Simulation (RRS) Interface

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IFAC Proceedings Volumes 1994年第4期27卷 321-324页

作者： Rolf Bernhardt Gerhard Schreck Cornelius Willnow Fraunhofer-Institute for Production Systems and Design Technology (IPK Berlin) Pascalstraße 8-9 D-10587 Berlin Germany Tel +49 30 39006-0 Fax +49 30 39110 37

Tools for simulation and off-line programming became an important means for economic application of industrial robots. Until now the accuracy of the simulations was not sufficiently precise for reliable down-load and execution of the off-line generated programs. A main cause for this was the controller specific motion behaviour of the robots that could not be simulated with sufficent accuracy. The RRS-project was created to overcome this deficite. By defining a suitable interface, it was made possible to integrate original controller software for motion behaviour into off-line programming systems.

关键词： industrial robots off-line programming simulation controller model kinematic modelling

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Path and orientation accuracy of industrial robots

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 1993年第1期8卷 29-33页

作者： Berg, Joachim O. Fed Armed Forces Univ Inst Design & Mfg Engn D-2000 Hamburg Germany

The automotive industry uses mainly on-line programming, i.e. teach-in programming, of welding and bonding robots for path planning purposes. This programming method is very time-consuming and expensive, and short-term program modifications cannot be easily performed. Computer-aided simulation of the working program and subsequent off-line programming seems to be one possible solution. Unfortunately, off-line versus on-line programmed paths entail completely different robot performances. As robot manufacturers are unable to provide data on the off-line path accuracy of their products, this type of programming is not suited for practical operation. This problem will be discussed on the basis of directive VDI 2861, and for the first time results of off-line and on-line path measurements will be compared.

关键词： robot accuracy off-line programming robot offline simmulation in CAD path and orientation accuracy of robots

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