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CAD off-line programming FOR INDUSTRIAL MACHINE VISION

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第2期4卷 129-143页

作者： REDARCE, T LUCAS, Y BETEMPS, M JUTARD, A 1. Laboratoire d'Automatique Industrielle Institut National des Sciences Appliquées Batiment 303 20 Avenue A. Einstein 69621 Villeurbanne Cedex France

CAD/CAM tools are essential components of the computer-integrated factory. Up to now, they have been used for tasks such as the simulation and path programming of numerically controlled machine tools, and sometimes industrial robots. The CAD-vision interconnection described here enables us to program parts learning on the workstation, to download piece features in the vision system for inspection on the production line, to simulate the recognition process on a set of parts stored in the computer, and to update vision files after modifications in the CAD system database.

关键词： CAD CAM off-line programming INDUSTRIAL VISION PATTERN RECOGNITION SIMULATION

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A Methodology to Support Concurrent Engineering in a Simulated Process Evaluation Environment (SPREE)

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Concurrent Engineering 1993年第4期1卷 193-201页

作者： Yetukuri, Nagarjun V. Prescott, William C. Fischer, Gary W. Department of Industrial Engineering The University of Iowa Iowa City Iowa 52242 4108 EB United States Computer-aided Design Software Inc. (CADSI) Coralville lowa 52241 2651 Crosspark Road United States

This paper describes a methodology to support concurrent engineering in a simulated process evaluation environment (SPREE) for path- directed robot (PDR) applications, such as gas metal arc welding, spray painting, and adhesive applications. Such an environment makes it possible to program PDR applications off-line more accurately. The methodology includes consideration of the process variables and their constraints, design constraints, and robot specifications. SPREE allows the user to evaluate the process plan against process constraints and robot specifications, perform robot motion analysis, and evaluate the performance of the robot;thus, the user is able to complete the front-end preparations in SPREE, so that the off-line program for the selected robot can be generated in an environmental external to SPREE. © 1993, Sage Publications. All rights reserved.

关键词： concurrent engineering dynamic analysis gas metal arc welding off-line programming process evaluation simulation

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ADAPTIVE TECHNIQUES FOR THE MARK-II FLEXIBLE AUTOMATIC ASSEMBLY SYSTEM

ADAPTIVE TECHNIQUES FOR THE MARK-II FLEXIBLE AUTOMATIC ASSEM...

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7TH IFAC/IFIP/IFORS/IMACS/ISPE SYMP ON INFORMATION CONTROL PROBLEMS IN MANUFACTURING TECHNOLOGY

作者： ONORI, M NYSTROM, M ROYAL INST TECHNOL DEPT MFG SYST S-10044 STOCKHOLM 70 SWEDEN

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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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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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PRACTICAL IMPLEMENTATION OF VISION SYSTEMS IN A CIM ENVIRONMENT

COMPUTER INTEGRATED MANUFACTURING SYSTEMS

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COMPUTER INTEGRATED MANUFACTURING SYSTEMS 1992年第1期5卷 61-68页

作者： REDARCE, T LUCAS, Y Laboratoire d'Automatique Industrielle Institut National des Sciences Appliquées Bâtiment 303 20 Avenue A. Einstein 69621 Villeurbanne Cedex France

The problem of implementing a vision system in an integrated environment arises at many levels: local network communications, postprocessing interfaces, and especially with data representation: the problem is one of how to describe objects to match vision models with CAD models. This paper describes a practical application of the parametric method, validated in a workshop from product design to its control on the production line.

关键词： INDUSTRIAL VISION off-line programming CIM PATTERN RECOGNITION

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A HYBRID MODEL AND SENSOR-BASED CONTROL USING LOGICAL SENSOR

A HYBRID MODEL AND SENSOR-BASED CONTROL USING LOGICAL SENSOR

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IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION

作者： ZHANG, ZW MEIJER, GR HERTZBERGER, LO FWI University of Amsterdam Kruislaan 403 Amsterdam 1098 SJ Netherlands

ISBN: (纸本)0780307534

This paper describes the progress of a research program on intelligent autonomous systems. The research program concentrates on equipping robots with a capability of handling the exceptions autonomously during the execution of their programs. An intelligent robot control system has been developed, which has the capability of exception handling. An intelligent sensor system with a similar capability of detecting, diagnosing and recovering from errors has been studied. The work mainly addresses the problems of integrating these two systems, i.e. the robot control systems which make decisions or accomplish tasks based on the sensory feedback. A hybrid model is proposed, and a sensor-based control system using the model is developed. The hybrid model relies not only upon the robot model but also the sensory feedback.

关键词： Exception handling Intelligent sensor system Logical sensor off-line programming Sensor-based control

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Adaptive Techniques for the Mark II Flexible Automatic Assembly System

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IFAC Proceedings Volumes 1992年第7期25卷 187-191页

作者： M. Onori M. Nyström Department of Manufacturing Systems The Royal Institute of Technology Stockholm Sweden

The paper describes how an error-free reduction in robot downtime is obtained by introducing system adaptivity. This was achieved by developing an application package for assembly tasks, using special error detection & recovery routines and off-line programming. All work has been carried out on the known Mark II automatic small-batch assembly system, also developed in-house. Our application package runs off a rule-based system. off-line programming is made feasible by cell calibration techniques.

关键词： Error recovery rulebase off-line programming cell calibration

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