This article presents the development of software for automatically robot path generation based on the CAD data of workpieces. It can be used for some kinds of surface finishing processes, e.g. built-up welding. The o...
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The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled with the increasing...
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The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled with the increasing diversity of robot run-time operating systems is moving the field toward high-level robot programming toolsets that allow graphical mission specification. This paper explores the issues of evaluating such toolsets as to their usability We first examine how usability criteria are established and performance target values are chosen. The methods by which suitable experiments are created to gather data relevant to the usability criteria are then presented. Finally, methods to analyze the data gathered to establish values for the usability criteria are discussed. The MissionLab toolset is used as a concrete example throughout the article to ground the discussions, but the methods and techniques are generalizable to many such systems.
The paper proposes an approach for a programming system for human-robot cooperation or collaboration. Within the cooperation, human and robot both execute their own tasks, whereas the tasks partly depend on each other...
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作者：
Zielinski, CWarsaw University of Technology
Institute of Control and Computation Engineering ul. Nowowiejska 15/19 00-665 Warsaw Poland. E-mail: C.Zielinski@ia.pw.edu.pl
The paper presents an object-oriented approach to the implementation of a software library (MRROC+) which contains building blocks for the construction of multi-robot system controllers tailored to meet specific deman...
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The paper presents an object-oriented approach to the implementation of a software library (MRROC+) which contains building blocks for the construction of multi-robot system controllers tailored to meet specific demands of a task at hand. Moreover, the paper supplies a brief overview of robot programming methods.
A PC-based interactive software package for low-level programmers is developed the for off-line programming of robots for welding, and is evaluated for are welding using a six-degree of freedom industrial robot. The p...
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A PC-based interactive software package for low-level programmers is developed the for off-line programming of robots for welding, and is evaluated for are welding using a six-degree of freedom industrial robot. The package is also capable of simulating the process graphically. Weld trajectories are either determined by making use of user input three-dimensional weld seam drawings, or can be extracted from three-dimensional workpiece drawings. A module is developed for easy weld seam input, which also makes use of open-architecture libraries for classical weld geometries. The software package consists of modules for automatic selection of welding machine and robot programming parameters by making use of open-architecture libraries. The user can also override and input these parameters manually, whenever required.
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 r...
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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.
The robot programming Network (RPN) is an initiative for creating a network of robotics education laboratories with remote programming capabilities. It consists of both online open course materials and online servers ...
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The robot programming Network (RPN) is an initiative for creating a network of robotics education laboratories with remote programming capabilities. It consists of both online open course materials and online servers that are ready to execute and test the programs written by remote students. Online materials include introductory course modules on robot programming, mobile robotics and humanoids, aimed to learn from basic concepts in science, technology, engineering, and mathematics (STEM) to more advanced programming skills. The students have access to the online server hosts, where they submit and run their programming code on the fly. The hosts run a variety of robot simulation environments, and access to real robots can also be granted, upon successful achievement of the course modules. The learning materials provide step-by-step guidance for solving problems with increasing level of difficulty. Skill tests and challenges are given for checking the success, and online competitions are scheduled for additional motivation and fun. Use of standard robotics middleware (ROS) allows the system to be extended to a large number of robot platforms, and connected to other existing tele-laboratories for building a large social network for online teaching of robotics.
The motion of the robot to realize assembly work includes the part where the reuse of the motion adjusted for the real objects is effective and the part where automatic generation in the simulator is suitable. In orde...
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Eight commercially available high-level robot programming languages developed by industrial robot builders and research laboratories are evaluated. These languages are: AL; AML; Help; Jars; MCL; Rail; RPL; and Val. Th...
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Eight commercially available high-level robot programming languages developed by industrial robot builders and research laboratories are evaluated. These languages are: AL; AML; Help; Jars; MCL; Rail; RPL; and Val. The historical background of the languages is reviewed. The languages are evaluated on the basis of data types, control structures, motion specification, use of sensors, and interface with external machines and devices. Common and uncommon features are noted. Facilities for program editing, entry, debugging, and teaching are compared. Conclusions are given regarding their present status and future development.
Reliability is a serious problem in computer controlled robot systems. Although robots serve successfully in relatively simple applications such as painting and spot welding, their potential in areas such as automated...
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Reliability is a serious problem in computer controlled robot systems. Although robots serve successfully in relatively simple applications such as painting and spot welding, their potential in areas such as automated assembly is hampered by the complexity of programming. A program for assembling parts may be logically correct, execute correctly on a simulator, and even execute correctly on a robot most of the time, yet still fail unexpectedly in the face of real world uncertainties. Recovery from such errors is far more complicated than recovery from simple controller errors, since even expected errors can manifest themselves in unexpected ways. In this paper we present a novel approach for improving robot reliability. Instead of anticipating errors, we use knowledge-based programming techniques so that the robot can autonomously exploit knowledge about its task and environment to detect and recover from failures. We describe a system that we have designed and constructed in our robotics laboratory.
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