The automation of polishing and grinding tasks by robots is advisable, since they are repetitive tasks generally done in unhealthy conditions. Nevertheless, robot programming is difficult, tedious and time-consuming. ...
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The automation of polishing and grinding tasks by robots is advisable, since they are repetitive tasks generally done in unhealthy conditions. Nevertheless, robot programming is difficult, tedious and time-consuming. Moreover, batch sizes are usually not very large, which requires an often reprogramming of the cell. To cope with this problem, this paper presents a tool to automatically program a robot from a graphical high level description of the task. First, a graphical user interface allows to easily specify the polishing curves over a CAD model of the part. The type of abrasive bands used and the force to be exerted is also specified by the user. Second, given the location of the polishing bands where each operation must be performed and a description of the cell, a robot program is generated to perform the polishing trajectories in the optimum sequence, the paths between trajectories being collision-free.
We introduce a simulation system for mobile robots that allows a realistic interaction of multiple robots in a common environment. The simulated robots are closely modeled after robots from the EyeBot family and have ...
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We introduce a simulation system for mobile robots that allows a realistic interaction of multiple robots in a common environment. The simulated robots are closely modeled after robots from the EyeBot family and have an identical application programmer interface. The simulation supports driving commands at two levels of abstraction as well as numerous sensors such as shaft encoders, infrared distance sensors, and compass. Simulation of on-board digital cameras via synthetic images allows the use of image processing routines for robot control within the simulation. Specific error models for actuators, distance sensors, camera sensor, and wireless communication have been implemented. Progressively increasing error levels for an application program allows for testing and improving its robustness and fault-tolerance.
programming software for complex robotic systems requires powerful tools that allow the programmers to focus on the functionality of their application without getting lost in low-level details (communication software,...
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programming software for complex robotic systems requires powerful tools that allow the programmers to focus on the functionality of their application without getting lost in low-level details (communication software, operating systems, etc), while guaranteeing robustness, flexibility, and efficiency. In previous works a software integrating system called NEXUS was presented that achieves these characteristics. This paper presents a visual programming tool called BABEL that fulfills the NEXUS specifications and in addition exhibits multilanguage and multidistribution features. It decouples the OS, communication network, and hardware-dependent parts of the modules of the application from their intended functionality.
作者：
J.C. LatombeImag
BP No 68 38402 Saint-Martin d’Heres Cedex France
Industrial robots require more and more advanced programming tools. After “teaching by showing” techniques, manipulator-level programming languages for describing tasks by sequences of robot operations have emerged,...
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Industrial robots require more and more advanced programming tools. After “teaching by showing” techniques, manipulator-level programming languages for describing tasks by sequences of robot operations have emerged, and they to-day become widespread in industry. However, writting manipulatorlevel programs is not easy. This difficulty arises the need for higher level languages, called task-level languages, for describing assembly tasks as sequences of goal spatial relationships between objects. Translating such a description into a manipulator-level program requires to solve three main problems: grasp planning, path planning, and fine notion planning. This paper surveys recent progress toward solving these problems. Task-level languages may deeply transform the way we will program robots in the future, and they contribute to better CAD/CAM integration.
Flexible, autonomous production systems form the basis for mastering increasing product diversity and customer-specific production. Industrial robots and modularization play a decisive role here, as they support the a...
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Flexible, autonomous production systems form the basis for mastering increasing product diversity and customer-specific production. Industrial robots and modularization play a decisive role here, as they support the automation of complex processes and the reconfiguration of production systems. Yet, a change in the mechanical configuration of a production system always results in big efforts for robot programming. Standard teach-in solutions for robot programming are not suitable for highly varying configurations. An automated, adaptive path planning via simulation is necessary to fill this gap and even allow robot programming for non-expert persons. This paper presents a modular framework for automated robot path simulation and virtual robot programming in reconfigurable production systems, based on service oriented architectures and modularization. The framework is evaluated using a reconfigurable production system for flexible cultivation and differentiation of stem cells, the iCellFactory. Within the system, a gantry-mounted six-axis robot transports fluid filled vessels between multiple, freely positioned modules carrying laboratory devices.
The increasing complexity of products and machines as well as short production cycles with small lot sizes present great challenges to production industry. Both, the programming of industrial robots in online mode usi...
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The increasing complexity of products and machines as well as short production cycles with small lot sizes present great challenges to production industry. Both, the programming of industrial robots in online mode using hand-held control devices or in offline mode using text-based programming requires specific knowledge of robotics and manufacturer-dependent robot control systems. In particular for small and medium-sized enterprises the machine control software needs to be easy, intuitive and usable without time-consuming learning steps, even for employees with no in-depth knowledge of information technology. To simplify the programming of application programs for industrial robots, we extended a cloud-based, task-oriented robot control system with environment perception and plausibility check functions. For the environment perception a depth camera and pointcloud processing hardware were installed. We detect objects located in the robot’s workspace by pointcloud processing with ROS and the PCL and add them to the augmented reality user interface of the robot control. The combination of process knowledge from task-oriented application programming and information about available workpieces from automated image processing enables a plausibility check and verification of the robot program before execution. After a robot program has been approved by the plausibility check, it is tested in an augmented reality simulation for collisions with the detected objects before deployment to the physical robot hardware. Experiments were carried out to evaluate the effectiveness of the developed extensions and confirmed their functionality.
The paper describes that development of task instruction in the form of natural language to task procedure for robots can be easily made by description of procedure for functions and roles peculiar to parts that we ha...
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Since its creation in 2014, the robot programming Network (RPN) has been an environment to learn and teach robotics to the general public, which has also allowed us to learn about education. In this paper, we aim to n...
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Since its creation in 2014, the robot programming Network (RPN) has been an environment to learn and teach robotics to the general public, which has also allowed us to learn about education. In this paper, we aim to not only present the RPN and the active courses in the system but also show the evolution of this initiative in front of the changing e-learning environment and its possible future evolution towards Massive Online Open Courses (MOOCs) and cloud simulation.
The objective of this research was to study the components and indicators of problem-solving skills in robot programming activities for high school students. This is done by analyzing the second order of confirmatory ...
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The objective of this research was to study the components and indicators of problem-solving skills in robot programming activities for high school students. This is done by analyzing the second order of confirmatory factor analysis (CFA) based on data from the behavioral assessment with regard to the robot programming activities of 320 students from specialized science schools. The results of the research revealed that the problem-solving skills in robot programming activities had five components and 15 indicators. All the components were tested for consistency using CFA statistics with the support of R-Studio program. The model analysis results were found to be consistent with empirical data with Chi-Square = 98.273, df = 80.000, p-value = 0.081, GFI = 0.961, NFI (TLI) = 0.924, CFI = 0.985, RMSEA = 0.027, RMR = 0.007. This indicates that all the identified components and indicators are involved in problem-solving skills in the robot programming activities of high school students.
Typically, development of robot behavior entails writing the code, deploying it on a simulator or robot and running it for testing. If this feedback reveals errors, the programmer mentally needs to map the error in be...
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