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 article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a descripti...
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In this article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a description technique using constraints for modelling the working environment and with the design of an appropriate process model for simulating complex movements of manipulation objects with multifinger hands. The paper presents the results of an object-oriented approach to the proposed model and consists of two parts: a constraint net that describes the connections and relations between cell components (robots, grippers, objects) in the working environment and a propagation algorithm that computes the new locations regarding the modifications and logical dependencies.
Model-based diagnosis of industrial applications (i.e., complex systems) has to face a lot of problems inherent in complexity. Most applications involve thousands of components and are dynamic. The approach outlined i...
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Model-based diagnosis of industrial applications (i.e., complex systems) has to face a lot of problems inherent in complexity. Most applications involve thousands of components and are dynamic. The approach outlined i...
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Model-based diagnosis of industrial applications (i.e., complex systems) has to face a lot of problems inherent in complexity. Most applications involve thousands of components and are dynamic. The approach outlined in this paper is based on semantic nets representing causal and temporal knowledge to be used for fault diagnosis. A view and a hierarchy-concept serve for structured modelling and focused diagnosis. An efficient diagnostic inference mechanism is based on a pre-computation phase, where diagnostic knowledge is restructured to grant efficient access operations during a diagnostic session phase.
In this paper the development of a programming and simulation environment is described, which was especially tailored for programming of multifinger hands. The research has concerned with the programming of the Karlsr...
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This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the produc...
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This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the product parts, which lead to the assembly of the final product. A global database provides the product data and the precedence graph. This information comes from product design and assembly planning. The design of spatial transformations is derived from constraints given by the geometric shape of the product parts and from rules that define how assembly with robots should be accomplished. This is followed by the generation of a suitable layout. A layout can be developed that is specially designed for the product to be assembled. During the entire planning session, the database manages all planning data and ensures consisteny. ROSI-Layout is an extension of the RObot Simulation system ROSI.
An approach for applying a structural texture analysis method to automatic visual inspection of fabric samples in the textile industry is presented. The main steps (image preprocessing, image segmentation, model descr...
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A concept for the intelligent control of subsystems of a flexible assembly cell is presented. Unknown or uncertain data about the real world may lead towards failure during an assembly task. Therefore, a fault toleran...
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This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Ma...
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This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Many parameters of the physical model may be adjusted to obtain simulation results close to reality. For processing of the picture data the SPIDER program is added to the simulation of the camera. Though a complete vision system is created. An example shows the simulation of a CCD-camera and a scene with workpieces taken from the ‘European Benchmark’ [COL85].
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