A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path ind...
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A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path independent external navigation system with passive environment structuring over the entire movement area of the robots. This area is completely covered with tiles, each containing the coordinates of its centre point inscribed using an error correcting code
A method for planning motions of robot arms is presented which considers not only the collision-avoidance but also robot's dynamic aspects. Based on the concept of configuration space, robot motions are planned at...
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F/sub A/TE, an online task-level planning system for an advanced assembly robot consisting of two manipulators and a set of different sensors such as an overhead camera and force-torque sensors, is presented. The plan...
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F/sub A/TE, an online task-level planning system for an advanced assembly robot consisting of two manipulators and a set of different sensors such as an overhead camera and force-torque sensors, is presented. The planning system takes an implicit description of the assembly task, plans a sequence of explicit robot commands and monitors the execution by the real-time robot control system. Because it runs completely online, the planning process is highly reactive using sensor information about the robot's present environment. This planning integrates as a key feature a dynamic mapping of assembly subtasks ready for execution onto the manipulators available at the moment. The system was implemented in Prolog on a SUN 4/75 SPARCstation running Unix.< >
The purpose of this paper is to present a method of extracting assembly directions for workpieces in an assembly set and to represent all these directions in an adequate manner. Local assembly directions are automatic...
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The purpose of this paper is to present a method of extracting assembly directions for workpieces in an assembly set and to represent all these directions in an adequate manner. Local assembly directions are automatically derived from a CAD model of the assembly set and modeled as so-called direction figures. These direction figures can be uniquely represented by spherical polygons, the analog of planar polygons on the sphere. As it will be shown, it is possible to apply proven “planar” algorithms to spherical polygons. The algorithms presented in this paper solve, e.g. the problem of determining the intersection of two spherical polygons, the point-in-polygon test and the calculation of the centre of a polygon. Since the representation of assembly (or machining) directions is required by various manufacturing planning algorithms, a good solution to this problem is of considerable importance in the area of intelligent manufacturing systems.
Describes an approach for the development of hierarchical systems called ddraw (d esign draw). It is an object-oriented graphical design tool that allows the construction of structures by the use of a small set of gra...
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Describes an approach for the development of hierarchical systems called ddraw (d esign draw). It is an object-oriented graphical design tool that allows the construction of structures by the use of a small set of graphical elements. A system in ddraw consists of components and relations between them. Components in turn may contain one or more subcomponents. Each of them can be provided with textual and graphical attributes. The attachment of any semantical meaning to components makes possible to employ ddraw in wide application fields. The created structures can be stored in an application-independent model description language (MDL), which allows its further use as input to other tools like code generators, syntax checkers, simulators, etc. Ddraw has been implemented on top of the X Windows system and uses windowing techniques and pointing devices to make the construction of complex systems manageable.< >
An approach for planning robot workcells fully automatically in three dimensions is presented. The automation is possible by carrying out the entire layout planning process in the configuration space. To obtain a good...
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An approach for planning robot workcells fully automatically in three dimensions is presented. The automation is possible by carrying out the entire layout planning process in the configuration space. To obtain a good shop floor layout in a short time, the Cartesian configuration space and fast obstacle transformation routines are used. An optimization algorithm minimizes the length of all collision-free paths required for the performance of the workcell task. A final test of the generated workcell layout, whether it is valid or not, via graphical workcell task simulations is not required. This planning approach enhances the conventional layout planning process and reduces the necessity of user interaction.< >
The authors present the automatic system configurator (ASC), a software environment for the design of automated workcells. ASC consists of a number of tools which provide support at various stages of the planning of c...
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The authors present the automatic system configurator (ASC), a software environment for the design of automated workcells. ASC consists of a number of tools which provide support at various stages of the planning of complex machine tools and workcells. It contains three tools for configuration and one layout planning tool. The tools can be used and stand-alone basis or in an integrated fashion via an information management system. Each ASC tool is a contribution to CIM in its own right. The configuration tools are knowledge based and stress in particular the knowledge acquisition aspects. The layout planning can be fully automatic, taking into account kinematic aspects for the layout planning of robots cells.< >
This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a suffici...
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This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.
In this paper the software environment KONTEST is introduced which allOWS a non-programmer to build and maintain a knowledge-based configuration tool for a restricted class of configuration tasks. The use of an enviro...
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In this paper the software environment KONTEST is introduced which allOWS a non-programmer to build and maintain a knowledge-based configuration tool for a restricted class of configuration tasks. The use of an environment like KONTEST can be especially interesting for small and medium sized companies, that could not afford a customised configuration tool developed from scratch.
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