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作者： ALVARO GARCIA MORCILLO Tampere University of Technology

学位级别：硕士

This thesis presents an approach for improving robot offline programming using input methods based on the human natural skills. The approach is focused to teach basic assembly and manipulation operations using a pair of industrial robots in an existing simulation environment and is meant to be improved in future works, that are also proposed in this thesis. In order to develop this approach, and regarding the available resources, an Add-In for the simulation and offline programming software RobotStudio was developed. This Add-In combines human pose, a graphical user interface and optionally speech to teach the robot a sequence of targets, along with the simulation environment, to automatically generate instructions. Two different kinds of sensors, Kinect and Leap Motion Sensor have been evaluated based on references in order to select the most suitable one for the implementation of this work. The executions of the programmed instructions have been evaluated in simulation.

关键词： Multi-Modal Interface offline programming Leap Motion Sensor Robot Studio Speech Recognition

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Process planning and offline programming for robotic remote laser welding systems

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2016年第12期29卷 1287-1306页

作者： Erdos, Gabor Kardos, Csaba Kemeny, Zsolt Kovacs, Andras Vancza, Jozsef Hungarian Acad Sci Inst Comp Sci & Control Fraunhofer Project Ctr Prod Management & Informat Budapest Hungary Budapest Univ Technol & Econ Dept Mfg Sci & Technol Budapest Hungary

The paper introduces a complete offline programming toolbox for remote laser welding (RLW) which provides a semi-automated method for computing close-to-optimal robot programs. A workflow is proposed for the complete planning process, and new models and algorithms are presented for solving the optimisation problems related to each step of the workflow: the sequencing of the welding tasks, path planning, workpiece placement, calculation of inverse kinematics and the robot trajectory, as well as for generating the robot program code. The paper summarises the results of an industrial case study on the assembly of a car door using RLW technology, which illustrates the feasibility and the efficiency of the proposed approach.

关键词： robotics lasers welding path planning optimisation offline programming

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A backward-oriented approach for offline programming of complex manufacturing tasks 6

A backward-oriented approach for offline programming of comp...

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6th International Conference on Automation, Robotics and Applications (ICARA)

作者： Naegele, Ludwig Macho, Miroslav Angerer, Andreas Hoffmann, Alwin Vistein, Michael Schoenheits, Manfred Reif, Wolfgang Univ Augsburg Inst Software & Syst Engn Univ Str 6a D-86159 Augsburg Germany Ctr Lightweight Prod Technol ZLP Inst Struct & Design German Aerosp Ctr D-86159 Augsburg Germany

ISBN: (纸本)9781479964666

The automation of production processes with large process variability and a low batch size can be very difficult and non-economic. Using the example of manufacturing carbon-fibre-reinforced polymers (CFRP) which represents a complex, currently hardly automated process, we present a backward-oriented approach for offline programming of complex manufacturing tasks. We focus on an automatic process definition which is supported by expert knowledge where required. Due to domain specific software modules, user interaction is intuitive and tailored to CFRP experts. This leads to significant time-savings compared to currently used teach-in approaches. Moreover, we introduce an extensible offline programming platform which is able to meet the high requirements of CFRP manufacturing.

关键词： offline programming OFF LINE programming AUTOMATIC PROCESSING carbon fibre reinforced plastics Production Processes Automation Expert Opinion Religious Missions Intuitive

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offline programming to Control Robot Manipulator in Virtual Kinematic Learning Tool

Offline Programming to Control Robot Manipulator in Virtual ...

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1st International Materials, Industrial, and Manufacturing Engineering Conference

作者： Yir, Khor Ching Arshad, Haslina Sundararajan, Elankovan Univ Kebangsaan Malaysia Fac Informat Sci & Technol Sch Informat Technol Ukm Bangi 43650 Selangor Darul Malaysia

ISBN: (纸本)9783037859360

Robot programming demands skilled robot programmers. Conventional methods of robot programming include teaching robot using the teach pendant and the high level programming language. Teaching robot kinematics and solving kinematic problems are complex and they involve robot programming With the advancement of computer and robotic technologies, this can be solved via computer simulation. In this paper, an approach for programming the robot's manipulator via an offline virtual kinematic learning tool is proposed. A virtual system is developed which has a user interface for users to improve the knowledge of the robot manipulators kinematic. Basic kinematics note, exercise and forward kinematic calculation based on Danavit Hertenberg method was included in the system. A template will be provided to the user as a guide to develop the controller to control the simulation of the virtual robot. The input and output method will be used to transfer data from the controller to the offline kinematic learning tool. After receiving the input, the data is stored in a text file. This data will provide the value of each angle of the virtual robot's to allow the system to generate the final position of the virtual robot and the virtual robot manipulator will be displayed and animated accordingly. Besides that, the offline robot programming will be generated by the system according the simulation planned by the user. This offline virtual kinematic simulation will help to provide a better understanding of the robot manipulators kinematic.

关键词： offline programming Visual Simulation Kinematics

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Optimization and improving of the production capacity of a flexible tyre painting cell

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2025年第9期136卷 3957-3969页

作者： Santos, Adriano A. Pereira, Filipe Felgueiras, Carlos Polytech Porto P Porto CIDEM Sch Engn Porto ISEP Rua Dr Antonio Bernardino Almeida 431 P-4249015 Porto Portugal INEGI Inst Sci & Innovat Mech & Ind Engn Rua Dr Roberto Frias 400 P-4200465 Porto Portugal Polytech Porto P Porto Sch Engn ISEP CIETI Rua Dr Antonio Bernardino Almeida 431 P-4249015 Porto Portugal

Optimization of industrial processes is a constant concern and a main task for many companies in several industry sectors. Based on optimized solutions, the company can decrease manufacturing costs, lead times or, more generally, increase benefit. However, when developing a new process, you must be sure that the new solution will add more value to the initial solution. This, among many others, is one of the main reasons why companies opt, in addition to experimentation, for the use of tools that allow for the virtual prototyping, simulation, and integration of complex and sophisticated processes. Experimentation requires approximation testing, searching for the ideal values of quantity, temperature, etc.;simulation provides industrial processes with test support ranging from flows to robotic systems such as the intelligent software. This simulation software allows to develop programs, add Computer Aided Design (CAD) layouts, and simulate the cycle times of the different tasks to be performed. In this paper, an experimental approach is presented with atomization and fan spray pressure as the study basis and a simulation of the robot-based handling solution used in a tyre production line. The result is an improvement of the painting process, optimisation of the amount of fluid deposited on the tyre, of the processed product, as well as of the running times of the robot.

关键词： Industrial process Nozzle spring offline programming Optimization Painting tyres programming Robotics

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A collision-free transition path planning method for placement robots in complex environments

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COMPLEX & INTELLIGENT SYSTEMS 2024年第6期10卷 8481-8500页

作者： Wang, Yanzhe Yang, Qian Qu, Weiwei Zhejiang Univ Sch Mech Engn State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Zhejiang Univ Sch Mech Engn Key Lab Adv Mfg Technol Zhejiang Prov Hangzhou 310027 Peoples R China

In Automated Fiber Placement (AFP), the substantial structure of the placement robot, the variable mold shapes, and the limited free space pose significant challenges for planning collision-free robot transitions. The task involves planning a collision-free path within the robot's high-dimensional configuration space. Informed RRT* is a common approach for such problems but often struggles with efficiency and path quality in environments with large informed sampling spaces influenced by obstacles. To address these issues, this paper proposes an improved Informed RRT* algorithm with a Local Knowledge Acceleration sampling strategy (LKA-Informed RRT*), aimed at enhancing planning efficiency and adaptability in complex obstacle settings. An Adaptive Sampling Control (ASC) rate is introduced, measuring the algorithm's convergence speed, guides the algorithm to switch between informed and local sampling adaptively. The proposed local sampling method uses failure nodes from the exploration process to estimate obstacle distributions, steering sampling toward regions that expedite path convergence. Experimental results show that LKA-Informed RRT* significantly outperforms state-of-the-art algorithms in convergence efficiency and path cost. Compared to the original Informed RRT*, the proposed method reduces planning time by about 60%, substantially boosting efficiency for collision-free transitions in complex environments.

关键词： Automated fiber placement Robot motion planning offline programming Complex environments Collision avoidance

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A robot welding path planning and automatic programming method for open impeller

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2023年第5-6期124卷 1639-1650页

作者： Fang, Weihua Ding, Luguo Tian, Xincheng Zheng, Fuquan Shandong Univ Ctr Robot Sch Control Sci & Engn Jingshi Rd Jinan 250061 Shandong Peoples R China Minist Educ Engn Res Ctr Intelligent Unmanned Syst Jingshi Rd Jinan 250061 Shandong Peoples R China Shandong Acad Sci Inst Automation Keyuan Rd Jinan 250014 Shandong Peoples R China

As a kind of structurally complex workpiece, open impellers made by welding are widely used in mining and light industries. The traditional robot programming method for open impeller welding path planning still requires a long cycle time, and the positioning of the open impeller after clamping is relatively complex and time-consuming. This paper proposes an open impeller welding path planning method for the purpose of improving the automation of open impeller welding by robots and shortening the open impeller welding cycle. From the analysis of the open impeller geometry, the path planning of open impeller welding is realized by extracting the welding seam curve and the blade edge curve. To enhance the open impeller posture detection after clamping on the positioner, a new structural light sensor is used to achieve open impeller alignment positioning by applying an improved iterative closest point (ICP) algorithm. Combined with the detection of the clamping posture, the robot welding path planning procedure of the open impeller is automatically generated. The final simulation and practical experiments verify the effectiveness of the proposed method.

关键词： offline programming Weld robot Impeller Path planning

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Research on fuzzy impedance force control technology of robot-assisted abrasive cloth wheel polishing blade

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2023年第5-6期127卷 2537-2551页

作者： Liu, Jia Zhang, Jingjing Li, Jingzheng Yang, Shengqiang Qiao, Zhijie Ju, Chun Zhao, Xuhui Taiyuan Univ Technol Coll Mech & Vehicle Engn Taiyuan 030024 Peoples R China

Industrial-robot assisted abrasive cloth wheel polishing blades aim to reduce surface roughness and improve machining consistency of blades. Since the blade is the complex free-form surface, the blade surface after offline programming has "over-polishing," "under-polishing," and machining allowance uneven phenomenon. In this paper, fuzzy impedance force control technology is proposed to solve the precision problem in the blade polishing process. First, the position-based impedance control algorithm is analyzed, and reasonable impedance parameters are obtained based on the actual robot model. Then, the fuzzy variable impedance control combining fuzzy theory and impedance control is proposed to solve the problems of poor trajectory tracking ability and force instability, when the traditional impedance control faces environmental changes and unknown environments. Finally, the simulation platform is built with the help of MATLAB Simulink tool to verify the effectiveness and rationality of the strategy, and the comparative experiment is conducted for robot-assisted abrasive cloth wheel polishing blade under fuzzy variable impedance force control and without force control. The results show that after superimposing the displacement compensation controlled by the fuzzy variable impedance force on the blade surface, the blade surface roughness is below 0.4 mu m, the polishing machining allowance is within +/- 0.06 mm, and the uniformity and consistency of the blade polishing surface are better.

关键词： offline programming Robot-assisted polishing Impedance parameters selection Fuzzy variable impedance force control

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Simulation Case Study for Improving Painting Tires Process Using the Fanuc Roboguide Software 32nd

Simulation Case Study for Improving Painting Tires Process U...

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32nd International Conference on Flexible Automation and Intelligent Manufacturing

作者： Santos, Adriano A. Haladus, Jakub Pereira, Filipe Felgueiras, Carlos Fazenda, Rui Polytech Porto P Porto CIDEM Sch Engn ISEP Rua Dr Antonio Bernardino Almeida 431 P-4249015 Porto Portugal INEGI Inst Sci & Innovat Mech & Ind Engn Rua Dr Roberto Frias 400 P-4249015 Porto Portugal Polytech Porto P Porto CIETI Sch Engn ISEP Rua Dr Antonio Bernardino Almeida 431 P-4249015 Porto Portugal Gisloti Mech Solut Rua Sidonio Muralha 12 P-4455554 Perafita Portugal

ISBN: (纸本)9783031382406;9783031382413

Optimization of industrial processes is a constant concern and a main task for many companies in several industry sectors. Based on optimized solutions, the company can decrease manufacturing costs, lead times or, more generally, increase benefit. However, it may happen that as the process develops, engineers realize that the best solution is the one that already exists, i.e., the new solution does not add more value to the initial solution. This is one of the main reasons why many companies, today, choose the use of tools that allow to prototype, simulate, and virtually integrate complex and sophisticated processes. Among many simulations software available in industrial processes supporting robotic systems, the intelligent software Roboguide 3D made available by Fanuc stands out. This simulation software, although used only with Fanuc manipulators, allow to develop the program, add CAD layouts, and simulate the cycle times of the different tasks to be carried out. In this paper, a simulation of the solution based on a Fanuc manipulator (Robot) used in a tire production line is presented. The process to be optimized consists of an internal tire painting station fed by a conveyor belt. The optimized solution will involve optimizing paint times and, consequently, robot operating times.

关键词： Industrial process programming Optimization Robotics offline programming

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AutomationML-Based Digital Twin for a Holistic Data Exchange Between Virtual and Physical Robotic Cells 33rd

AutomationML-Based Digital Twin for a Holistic Data Exchange...

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33rd International Conference on Flexible Automation and Intelligent Manufacturing

作者： Babcinschi, Mihail Raffaeli, Roberto Bilancia, Pietro Neto, Pedro Pellicciari, Marcello Univ Coimbra Dept Mech Engn Coimbra Portugal Univ Modena & Reggio Emilia Dept Sci & Methods Engn Reggio Emilia Italy

ISBN: (纸本)9783031744815;9783031744822

Robot-based manufacturing cells exhibit strong capability in performing high customizable working cycles involving operations like machining, assembly, painting, welding and gluing. Designing and optimizing such systems require a holistic approach across domains like device layout, logical connections, control systems, and tasks. The AutomationML file format (AML) within the Reference Architectural Model Industrie (RAMI 4.0) framework enhances interconnection and interoperability among engineering tools but lacks established practices. This paper introduces AML for representing flexible manufacturing cells within the Product-Process-Resource paradigm. AML serves as a comprehensive representation of equipment, processed products, and manufacturing operations, aiding design, configuration, virtual simulation, and optimization before physical implementation. A software tool for robotic systems simulation and programming, i.e. RoboDK, is employed to generate customizable virtual prototypes based on AML content for streamlined simulation and assessment. The same AML file facilitates code transfer to physical cell control units. Demonstrated on a robotic deburring cell, this approach highlights AML's efficacy in data representation between virtual and physical environments, paving the way for digital twin mapping and enhanced manufacturing integration.

关键词： Robotics Interoperability AutomationML RAMI 4.0 Simulation offline programming

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