This paper describes results of the ESPRIT project HIMAC (Hierarchical Management and Control in Manufacturing systems). Within this project, several algorithms were developed and implemented: The planning algorithm c...
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This paper describes results of the ESPRIT project HIMAC (Hierarchical Management and Control in Manufacturing systems). Within this project, several algorithms were developed and implemented: The planning algorithm concerns the minimization of the number of tools in a manufacturing system. The second algorithm is used for the definition of part families and resource groups. Regarding scheduling, an existing algorithm has been adapted and further improved to be applicable to the HIMAC specific representation. The implementation of the algorithms is based on the HIMAC theory, hence they use a common representation of a manufacturing system.
This paper describes the general problem of manufacturing, discusses the impact and consequences of the growing internationalisation of markets and gives an overview of the trends in key technologies of manufacturing ...
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This paper describes the general problem of manufacturing, discusses the impact and consequences of the growing internationalisation of markets and gives an overview of the trends in key technologies of manufacturing systems. Furthermore, the need for models to support the design and reorganisation of CIM systems and Virtual Factories is discussed. Finally, particular approaches to solve such problems are introduced.
Enterprise models are used to support the solution of several organizational tasks. Although most of the existing modelling concepts were developed under the consideration of the aspect of process orientation, no meth...
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Enterprise models are used to support the solution of several organizational tasks. Although most of the existing modelling concepts were developed under the consideration of the aspect of process orientation, no methods exist which would prevent the user from creating a function oriented model. Beside this, once created models often cannot be reused for new tasks because the view on the enterprise described in the existing model does not correspond to the actual requirements. In the first part of this paper, a new approach is described, which helps to overcome these problems. In the second part, an optimization approach for the modelled process is proposed.
Micromanipulation has become an issue of primary importance in industry and biomedicine, the manual capabilities being restricted to certain tolerances. For example manipulation of biological cells or an assembly of a...
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Micromanipulation has become an issue of primary importance in industry and biomedicine, the manual capabilities being restricted to certain tolerances. For example manipulation of biological cells or an assembly of a whole microsystem composed of different microcomponcnts have to be carried out by piezo electrically-driven miciorobots. For this reason, an automated microrobot-based micromanipulation station is developed by an interdisciplinary group at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. The principal sensors of the S3rstem are CCD cameras. One of them, coupled with the microscope, is the local sensor that allows the automation of the manipulation process under the microscope. A second one, the global sensor, supervises the entire system. In this work we present the first step of a method for the detection of faults occurring during the manipulation process. This first stage consists of detecting and processing a position deviation of the microrobot.
The authors present a microassembly system model based on geometric reasoning. Its components, which include an X-Y positioning table with a glass plate fixed on top of it, operating microrobots on the plate, and a CC...
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The authors present a microassembly system model based on geometric reasoning. Its components, which include an X-Y positioning table with a glass plate fixed on top of it, operating microrobots on the plate, and a CCD-camera, are discussed in detail. Feasibility criteria for the generation of possible assembly sequences and optimisation criteria for selecting the best assembly plan, which reflect the specific features of microassembly, are suggested. For both planning steps, algorithms for an automatic procedure have been developed and implemented. An important advantage of te suggested bottom-up search procedure is that the assembly plan is determined at each step of the algorithm, so that the searching of all feasible sequences and the selection of the best one are integrated into one automated planning procedure. This allows one to replan the assembly process during plan execution, starting from the current process state and without exploring the space of all possible assembly plans. For a multirobot system, a method for decomposition of an assembly plan and its implementation is suggested.
The design of a microassembly desktop station is a major challenge for microsystem technology. This paper presents several piezoelectric micromanipulation robots, which have been developed to be used in a microassembl...
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The design of a microassembly desktop station is a major challenge for microsystem technology. This paper presents several piezoelectric micromanipulation robots, which have been developed to be used in a microassembly station. These robots are of different design and use different actuation principles so that each robot serves for a specific task. They are capable of travelling over long distances and of manipulating in the range of a few nanometers. Several robots of this kind can be accommodated in a microassembly station and can cooperate and perform microassembly tasks as a team. They can also be used for other operations such as online testing of microelectronic chips or manipulating biological cells.
作者：
J. SeyfriedS. FatikowUniversity of Karlsruhe
Institute for Real-Time Computer Systems and Robotics (IPR) Kaiserstr. 12 (Geb. 40.28) D-76128 Karlsruhe F. R. of Germany Phone: +49-721-608-3656 Fax: +49-721-606740
In the fields of biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already be...
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In the fields of biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, but in the field of control systems and user interfaces of such micromanipulation systems, there is still much work to be done. Different applications demand different levels of control and planning: easyier, single tasks may be performed by teleoperation, while others require a programmed motion sequence or even task planning to accomplish a complex assembly task a with minimum of human interaction. This paper presents a micromanipluation system consisting of a microassembly robot working under a light-optical microscope, a CCD camera and an XY-stage. Then, the software infrastructure for the microrobot control system is presented and the underlying hardware system is described. It also shows a user interface based on this structures, a semi-automated teleoperation system. The user interface presented here uses the live image of the CCD camera to perform either open or closed loop control of the robot's position. All parameters of the microscope and XY-stage can be controlled with dialog windows. The software infrastructure allows also the development of task planning algorithms by providing an intermediate layer to control the robot
The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, ...
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The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, by developing a specific mathematIcs, the Manufactunng Algebra (MA), for modelling and controlling the production processes of discrete manufacturing systems. As a key feature, the MA models can be bottom-up aggregated starting from the very detailed levels used in simulation, thus making poSSIble a coherent model hierarchy at the base of the design and realization of Hierarchical control strategies and architectures. The formulation of the original mathematical approach and its validation criteria are outlined in the paper. For a deeper understanding, the mterested reader can take advantage of the list of references given at the end.
The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation-the coordinated use of manipulation c...
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The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation-the coordinated use of manipulation capabilities and mobility-is an approach to increase robots flexibility with regard to their motion capabilities. Most mobile manipulators that are currently under development use a single arm on a mobile platform. The use of a two-arm manipulator system allows increased manipulation capabilities, especially when large, heavy, or non-rigid objects must be manipulated. This article is concerned with motion control for mobile two-arm systems. These systems require new schemes for motion coordination and control. A coordination scheme called transparent coordination is presented that allows for an arbitrary number of manipulators on a mobile platform. Furthermore, a reactive control scheme is proposed to enable the platform to support sensor-guided manipulator motion. Finally, this article introduces a collision avoidance scheme for mobile two-arm robots. This scheme surveys the vehicle motion to avoid platform collisions and arm collisions caused by self-motion of the robot. (C) 1996 John Wiley & Sons, Inc.
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