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TASK LEVEL off-line programming SYSTEM FOR ROBOTIC ARC-WELDING - AN OVERVIEW

JOURNAL OF MANUFACTURING SYSTEMS 1988年第4期7卷 293-306页

作者： RUBINOVITZ, J WYSK, RA Technion - Israel Institute of Technology Haifa Israel Pennsylvania State University University Park Pennsylvania USA

A structure for a CAD based, task level off-line programming system for robotic arc welding is presented. The welding task is specified using a solid modeling CAD system. A model of the robot motion capabilitie are used to plan the path of motion between weld seams for the robotic welding process. The output of the system, in the form of a robot level program, is transferred to a specific robot controller using an interface module, which was also created for this research. An example welded part is used to show that the system can enhance the productivity and efficiency of robotic arc welding, for both low batch and high batch production.

关键词： Robotics off-line programming Arc Welding CAD CAM Productivity

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off-line programming of Exception Handling Strategies

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IFAC Proceedings Volumes 1988年第16期21卷 431-436页

作者： G.R. Meijer L.O. Hertzberger Computer Science Department (FWI) University of Amsterdam Kruislaan 409 1098 SJ Amsterdam Setherlands

This Paper addresses the problem of handüng exceptions during robot program execution. A model for off-line programming of exception handling strategies is presented and the realization of the sub modules is described. The exception handling strategies are used to specify the actions to take in case exceptions occur. The programming environment enables the generation of robot programs with exception handling capabilities and at the same time reduces the required effort from the application programmer. A description is given of the realized simulation techniques and the user interface of the programming system.

关键词： off-line programming Error handling Robots Artificial intelligence Assembling Manufacturing processes programming languages Operations research

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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 STRUCTURED GEOMETRIC DATABASE IN AN off-line ROBOT programming SYSTEM

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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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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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Robot Simulation and programming System

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IFAC Proceedings Volumes 1988年第16期21卷 437-442页

作者： A. Woźniak J. Warczyński Institute of Control Engineering Technical University of Poznań 60-965 Poznań Poland

In the paper a simulation and off-line programming system for robots in an open kinematic chain of rigid links with fifth-class pairs has been outlined. It consists of a database and six program modules cooperating with one another under control of a system management program. The system operates in the framework of three main modes which are : modelling, programming and simulation. They enable off-line development and debugging of robot programs as well as the model - based evaluation of the dynamic performance of a robot and its control and actuator systems with respect to the movement dynamic phenomena. Also, the workcell layout and verification of programmed robot actions within the workcell are possible. For this purpose the animated robot and workcell wire-frame graphical models, composed with the aid of a graphical editor module, can be applied. There are also additional programs of informational nature in the system, like procedure for evaluation of robot inertia tensors or its work space volume which, together with available help functions, make the system more user-friendly.

关键词： Robot off-line programming robot system modelling robot dynamics simulation

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On Some Problems in Kinematic Control of Manipulation Robots: The Structural Regularity Approach

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IFAC Proceedings Volumes 1988年第16期21卷 131-136页

作者： S.P. Patarinski Department of Robotics Institute of Mechanics and Biomechanics Bulgarian Academy of Sciences 1113 Sofia Bulgaria

The research work, carried out in kinematics of manipilation robots (MR) during the recent years, gave birth to a number of new results, providing better understanding of MR kinematics and effective computational algorithms for CAD/CAM systems and real-time control. In the present paper MR kinematics evaluation is considered. Both the direct and the inverse kinematic problems are studied, and the essential difficulties due to the kinematic redundancy (global or/and local) and the existence of singular configurations are discussed. The concept of structural regularity is introduced and a new form of the kinematic model of MR is derived, so that the eventual kinematic redundancy and all singularities are comprised by a submatrix of the Jacobian matrix. An example of a 6R MR illustrates the results proposed.

关键词： Manipulation robots kinematics evaluation structural regularity redundancy resolution matrix pseudomversion off-line programming

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CAD-Based Robot Planning and Control

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IFAC Proceedings Volumes 1988年第16期21卷 465-469页

作者： E. Trostmann B. Palstrøm Department of Mechanical Engineering Technical University of Denmark DK-2800 Lyngby Denmark Institute for Product Development Technical University of Denmark DK-2800 Lyngby Denmark

A new, general concept for CAD-based programming and control of robot systems has been devised. The fundamental core in this concept is the application of neutral interfaces for data exchange between different constituents of the system. One neutral interface based on the CAD*I format connects the CAD-world with the planning and programming world and another neutral interface based on the IRDATA format connects the programming world with the real-time physical control of a robot. The concept is demonstrated by the design and implementation of an off-line planning and programming system for robot driven single pass continuous welding. The strategic importance of the concept lies in the fact that the system structure into a large degree is insensitive to what kind of subsystems that may be selected, whether they are in house developed and dedicated systems or commercial available ones.

关键词： Robots off-line programming computer aided-design robot driven single pass continuous welding neutral interface pre- and postprocessor

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Simulation of Robot Factories Using Robsim

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IFAC Proceedings Volumes 1987年第5期20卷 313-319页

作者： D.W. Wloka Forschnungsgruppe für Robotertechnik und angewandte computergraphik(FORAC)am Lehrstuhl für Systemtheorie der Elektrotechnik Universität des Saarlandes Saarbrücken FRG

Industry uses robots in growing numbers. Many aspects related to robotics can be studied and solved using computer simulations. This paper describes ROBSIM. a robot simulation system. ROBSIM covers the areas from creation of simulation models. off-line programming to animation of robot programs using 3D computer graphics. ROBSIM provides a new scheme of user interactions. using DIMENSION 3 a 3D input device for computer graphics

关键词： Robotics computer graphics 3D animation robot simulation graphical teach-in off-line programming 3D input device

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Assembly Automation Using Advanced Robot Control Software

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IFAC Proceedings Volumes 1986年第14期19卷 319-323页

作者： H. Fuchs M. Zecha J. Hübener W. Jentsch Central Institute of Cybernetics and Information Processes Academy of sciences Berlin GDR

The paper deals with first results of a R & D project for automation of complex assembly operations. An experimental system was developed to solve a real assembly problem, the mounting fo an air supercharger, which is complex enough to serve as a pilot solution for similar technological tasks. The hardware consists of an articulated robot with special assembly gripper and sensors, a 2D vision system and a local net of micro and minicomputers. The developed software is divided into a control part and an off-line programming part, which provides two levels of user communication. Algorithms for automatic programming of assembly sequences and generation of collision-free trajectories are included.

关键词： Assembly automation robot languages off-line programming robot control software path planning

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