Development of a technology orientated programming system for industrial robots
The disassembly of used goods is characterized by strongly varying quantities and a wide range of different kinds and states of products. Furthermore, the requirements of a disassembly system are determined by the disassembly object, by the process as well as by the disassembly system itself. As a result of the high labor costs in industrial countries and the huge amount of used goods, an automated disassembly is favored for the industrial disassembly. New methods for the programming of industrial robots have to be developed because the costs for a programming of small lot sizes are a key factor of the economic efficiency of small and medium sized enterprises (SME). In this paper an off-line programming environment for programming of industrial robots in the field of automated disassembly is presented. The exemplary implementation is realized at a pilot disassembly system, which was built up at the Institut für Werkzeugmaschinen und Fabrikbetrieb (IWF) of the Technische Universität Berlin.
Off-Line Robot Programming Framework
The industrial robot programming is a work for specialist in robotics. Today, this work is very hard because there are many robot manufacturers with different languages and different programming environments. Although, off-line programming is an way that can reduce drastically the machines stop time to maintenance. With the use of object oriented design patterns, it is possible minimize the time spent in robot programming. In this work is proposed a off-line programming environment. This tool is based in one abstract model to program robots, encapsulate in Java classes. This way has the main advantage of best source code utilization. Grouping the business classes in modules by functionalities, we can reduce complexity between low matching. Recognized patterns like facade and template method will construct the base to develop this programming framework. The programming robot languages tested in this work was Rapid, Karel and Melfa Basic IV, respectively languages used by ABB, Fanuc and Mitsubishi constructors
Automatic off-line programming and motion planning for industrial robots
This paper discusses the problem of automatic off-line programming and motion planning for industrial robots. At first, a new concept consisting of three steps is proposed. The first step, a new method for on-line motion planning is introduced. The motion planning method is based on the A*-search algorithm and works in the implicit configuration space. During searching, the collisions are detected in the explicitly represented Cartesian workspace by hierarchical distance computation. In the second step, the trajectory planner has to transform the path into a time and energy optimal robot program. The practical application of these two steps strongly depends on the method for robot calibration with high accuracy, thus, mapping the virtual world onto the real world, which is discussed in the third step.