Articulated arm robots have become critical components in the modern manufacturing environment, effectively performing a diverse range of manufacturing tasks. robots offer flexibility through re-programmability - howe...
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ISBN:
(纸本)9781509033355
Articulated arm robots have become critical components in the modern manufacturing environment, effectively performing a diverse range of manufacturing tasks. robots offer flexibility through re-programmability - however, robot programming remains a time consuming task which requires highly skilled operators. Aiming to reduce the required time and complexity of robot programming, this paper presents an alternative programming method based on the capture of demonstrated motions. Early experimental results show a significant reduction in programming time compared to a standard online programming method.
This paper proposes a new concept to augment direct robot programming with sensor-based branching and looping. The objective is to derive a new robot programming paradigm in order to enable non-programmers to use robo...
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ISBN:
(纸本)9781467317368
This paper proposes a new concept to augment direct robot programming with sensor-based branching and looping. The objective is to derive a new robot programming paradigm in order to enable non-programmers to use robots for different tasks. Inspired by the ancient programming style based on the GOTO-statement, this approach requires the user to deal with only two basic concepts: Intuitive Control Expressions and Spatial Labels. This simplicity yields a very intuitive robot programming interface. We introduce these new concepts and derive some statements about the power and the limitations of this approach.
Industrial robots are widely used in industrial production as mechanical devices. It is essential to guarantee that their control software operates safely and properly, as any functional or security-related defects ma...
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ISBN:
(纸本)9798400704208
Industrial robots are widely used in industrial production as mechanical devices. It is essential to guarantee that their control software operates safely and properly, as any functional or security-related defects may lead to serious incidents. However, industrial robots are programmed mostly in proprietary languages varying from vendor to vendor, making it challenging to formally analyze their correctness in a unified way. One of the most representative robot programming languages is the RAPID language proposed by ABB robotics. In this paper, we present K-RAPID, a formal executable semantics of RAPID in the K-Framework (K). K-RAPID is developed according to the official ABB documentation and defined in a generic extensible manner. It can be used either for validating the correctness of compiler implementation or analyzing the control programs written in RAPID. We evaluate the correctness of K-RAPID by executing 563 test programs collected from multiple sources and comparing the results against the official robot simulation environment robotStudio. The results suggest that K-RAPID covers the core features of RAPID correctly. Moreover, we show how we could apply K-RAPID to verify RAPID programs using LTL model checking and to provide a formal specification of RAPID to uncover inappropriate behaviors in the programs.
In this paper, we present an efficient assembly sequence generation method for robot programming, which can reduce the complexity of assembly sequence generation for products within a product family. Today, principle ...
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ISBN:
(纸本)9781509037629
In this paper, we present an efficient assembly sequence generation method for robot programming, which can reduce the complexity of assembly sequence generation for products within a product family. Today, principle markets for robot assembly automation (e.g., automobile and consumer electronics) have a relatively short product run rate, ranging from six to twelve months. To accommodate this rapidly changing production demand, in most cases, manufacturers design a series of new products within a product family (i.e., a group of products derived from a common product platform) so that they have similar assembly sequences. Seemingly robot programming for a new product within a product family does not require extensive programming adjustments, but it is still complex and manufacturers spend large amount time and money in programmingrobots for each new product. To solve this problem, we present a new assembly sequence generation method. With a case-based planner, we generate feasible and similar-to-real assembly sequence candidates for a new product from assembly sequences of old products within a product family. Then, we use geometric information extracted from its CAD model to evaluate those candidate sequences. Unlike those used by previous studies, our method can generate an assembly sequence that is more suitable for the concept of a reconfigurable assembly system for general-purpose robots (assembly sequence generation for robot programming);more similar to assembly sequences used in real assembly systems (case-based planning);and more properly evaluated for robot assembly (a CAD model). We apply the proposed method to a toy airplane assembly scenario and demonstrate its feasibility.
We present the Semantic robot programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot...
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ISBN:
(纸本)9781538630815
We present the Semantic robot programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal scene in workspace. The robot then parses this goal as a scene graph comprised of object poses and inter-object relations, assuming known object geometries. Task and motion planning is then used to realize the user's goal from an arbitrary initial scene configuration. Even when faced with different initial scene configurations, SRP enables the robot to seamlessly adapt to reach the user's demonstrated goal. For scene perception, we propose the Discriminatively-Informed Generative Estimation of Scenes and Transforms (DIGEST) method to infer the initial and goal states of the world from RGBD images. The efficacy of SRP with DIGEST perception is demonstrated for the task of tray-setting with a Michigan Progress Fetch robot. Scene perception and task execution are evaluated with a public household occlusion dataset and our cluttered scene dataset.
This paper describes how structures for the flow control in robot programming languages can be translated into Petri nets. Structures common to many robot programming languages are identified and their representation ...
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ISBN:
(纸本)9781457700187
This paper describes how structures for the flow control in robot programming languages can be translated into Petri nets. Structures common to many robot programming languages are identified and their representation in the realm of Petri nets is described. This common representation of robot programs allows us to apply to them techniques originally developed for Petri nets. An example of how to combine the single structures into Petri nets representing larger robot programs and future prospects of these efforts conclude the work.
A new method has been developed in the Laboratory for Handling Technology and robotics at the Hochschule Osnabruck that could significantly reduce the commissioning times for robot work cells. This is based on predefi...
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ISBN:
(纸本)9781479902248
A new method has been developed in the Laboratory for Handling Technology and robotics at the Hochschule Osnabruck that could significantly reduce the commissioning times for robot work cells. This is based on predefined functional modules, in which knowledge is stored about motion and process parameters from previously implemented robot applications. These modules, together with their knowledge elements (e.g. motion speeds, acceleration profiles or blending behavior) are made available within a database as a best-practice library for subsequent commissioning processes. A robot programmer can therefore refer to implemented knowledge and stored empirical values, saving the time-consuming optimization work.
The purpose of this research is to synthesize the conceptual framework for designing learning resources in a learning environment based on Web-based of constructive Theory. To enhance the solution for robot programmin...
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ISBN:
(纸本)9783030915407;9783030915391
The purpose of this research is to synthesize the conceptual framework for designing learning resources in a learning environment based on Web-based of constructive Theory. To enhance the solution for robot programming in secondary grade 3. The Research is a documentary research And Survey Research. The qualitative data collection process is as follows. 1) The study of principles theories and related research. 2) The study relevant context. 3) The synthesis of theoretical and conceptual framework to design a learning environment in the learning network developed by the constructivist to enhance problem-solving of programming a robot for Students for secondary grade 3. On the basis of the Problem-solving (Jonassen 1997) with the following steps: Step 1 Problem Representation, Step 2 Search for Solutions and Step 3 Implement Solutions. This is consistent with the computer programming, (Thompson 1996a) which has the following steps. 1) Understand the problem. 2) Designing the program 3) Writing the program and 4) Looking back. The result of research is concept of design resources in a learning environment on web-based a constructivist that enhance problem solving, robot programming of consists. 1) Data bank 2) Experimental equipment 3) robot Information Center.
A principled theory of sensing and action is crucial in developing task-level programming for autonomous mobile robots. A framework for such a theory is proposed, providing both a precise vocabulary and also appropria...
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ISBN:
(纸本)0818627204
A principled theory of sensing and action is crucial in developing task-level programming for autonomous mobile robots. A framework for such a theory is proposed, providing both a precise vocabulary and also appropriate computational machinery for working with issues of information flow in and through a robot system equipped with various types of sensors and operating in a dynamic, unstructured environment. The authors focus on the problem of constructing virtual sensors out of concrete sensors. Virtual sensors may be defined in terms of existing concrete sensors. A method of task-directed construction of such virtual sensors is described. Virtual sensors are queried in robot programs much as their concrete counterparts are. In allowing the task to direct the composition of virtual sensors, robot programs which are organized in such a way as to guide the robot toward acquiring the information it needs to accomplish the task can be derived. Many information-acquisition and representational issues are made explicit.
An object oriented model of robotic work cell is proposed in this paper based on domain analysis of robotic work cell. An easy robot programming application is implemented which hide the complexity of RAPID (ABB robot...
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ISBN:
(纸本)9783540733737
An object oriented model of robotic work cell is proposed in this paper based on domain analysis of robotic work cell. An easy robot programming application is implemented which hide the complexity of RAPID (ABB robot programming language) by an intuitive graphical programming approach. Customer test has demonstrated that it can simplify and speed up the process of programming ABB robot in plastic injection molding application.
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