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Article
Publication date: 1 July 2002

Amar Khoukhi

In this paper the problem of the dynamic optimal time‐energy Off‐Line programming of an autonomous mobile robot in a crowded environment is considered. First, kinematic model and…

Abstract

In this paper the problem of the dynamic optimal time‐energy Off‐Line programming of an autonomous mobile robot in a crowded environment is considered. First, kinematic model and planning are presented. Then a dynamic model based on Euler‐Lagrange formalism is developed and a mobility estimation function of the robot is considered. This dynamic estimation of the robot mobility takes into account of the velocity and the orientation of the robot. Then the scene structuration and a path finder algorithm are developed. After, the optimal dynamic off‐line programming is formulated as a nonlinear programming problem under nonlinear equality and inequality constraints. The Discrete Augmented Lagrangian (DAL) is used to obtain the optimal trajectograhy. We develop an extended DAL to DALAP, DALAdaptive Penalty. RoboSim 1.0 simulator is developed to perform kinematic and DALAP based algorithms on a large class of mobile robots optimal time‐energy off‐line programming. A comparative study with kinematic planning is considered. It is shown that the performance of the dynamic optimal time‐energy control and off‐line programming is much better than kinematic and heuristic based schemes. This strategy of trajectory planning was implemented on the case study of the SARA mobile robot model.

Details

Kybernetes, vol. 31 no. 5
Type: Research Article
ISSN: 0368-492X

Keywords

Article
Publication date: 1 August 1998

Leslie Brown

During the casting of steel components, burrs and other unwanted material are formed which need to be removed in the deburring process. This is usually effected manually in what…

335

Abstract

During the casting of steel components, burrs and other unwanted material are formed which need to be removed in the deburring process. This is usually effected manually in what is an unpleasant, monotonous, strenuous and even a dangerous task. Robotic deburring can overcome these disadvantages, but many problems must be addressed before this becomes the normal practice because of the complexity of the process. One of the major concerns in all robotic deburring applications is the time that it presently takes to program the robot. It is universally recognised that off‐line programming offers very many advantages and enormous benefits are to be gained; however, to date there are very few if any successful applications. The research being conducted at Sunderland aims to address several of the problems associated with off‐line programming of robots. Some of the problems are particular to the industrial collaborators’ robotic workcell; however, the main concern is in developing an accuracy compensation method in order that “so called” off‐line programming software can be applied.

Details

Industrial Robot: An International Journal, vol. 25 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 April 1989

Peter Sorenti and Joe Bennaton discuss developments in off‐line programming and decribe the use of the GRASP 3D graphical simulation system to program a complex welding task at…

Abstract

Peter Sorenti and Joe Bennaton discuss developments in off‐line programming and decribe the use of the GRASP 3D graphical simulation system to program a complex welding task at JCB.

Details

Industrial Robot: An International Journal, vol. 16 no. 4
Type: Research Article
ISSN: 0143-991X

Article
Publication date: 1 February 1991

Joachim O. Berg

In order to save cost and time, attempts are made by the automotive industry to simulate in advance system planning and programming of robots involved in the manufacturing…

Abstract

In order to save cost and time, attempts are made by the automotive industry to simulate in advance system planning and programming of robots involved in the manufacturing process. Unfortunately, the use of off‐line programming produces inaccuracies in robot positioning so that reteaching is required for the various working points. This problem is aggravated by the fact that to date robot manufacturers have been unable to provide reliable data on the accuracy of their robots when using off‐line programming. This complex of problems is discussed on the basis of the VDI directive 2861.

Details

Industrial Robot: An International Journal, vol. 18 no. 2
Type: Research Article
ISSN: 0143-991X

Article
Publication date: 1 April 1987

Scott Carter

The potential and the problems of off‐line robot programming are outlined

Abstract

The potential and the problems of off‐line robot programming are outlined

Details

Industrial Robot: An International Journal, vol. 14 no. 4
Type: Research Article
ISSN: 0143-991X

Article
Publication date: 1 April 1988

J.A. Bennaton

Planning robot cells, and proving and generating robot programs, can be swiftly and efficiently achieved with graphical simulation.

Abstract

Planning robot cells, and proving and generating robot programs, can be swiftly and efficiently achieved with graphical simulation.

Details

Industrial Robot: An International Journal, vol. 15 no. 4
Type: Research Article
ISSN: 0143-991X

Article
Publication date: 1 February 1989

Gerhard Angermüller, Erich Niedermayr and Norbert Roth

IN a classification of the effects which lead to economic success of industries, the ability to successfully innovate the production processes plays a dominant role. The…

Abstract

IN a classification of the effects which lead to economic success of industries, the ability to successfully innovate the production processes plays a dominant role. The competition in the international markets, influenced by overcapacities in the industrial countries and by growing capacities in the countries on the threshold of industrialisation, makes it necessary to be quick in presenting new products on the market while being able to produce these products in the most efficient way. To realise such consumer‐oriented production, two main conditions have to be fulfilled:

Details

Assembly Automation, vol. 9 no. 2
Type: Research Article
ISSN: 0144-5154

Article
Publication date: 1 February 1997

Brian W. Rooks

Examines the developing uses of off‐line programming (OLP) in the automotive industry, particularly in the areas of robot welding and robot painting of vehicle bodies. States that…

Abstract

Examines the developing uses of off‐line programming (OLP) in the automotive industry, particularly in the areas of robot welding and robot painting of vehicle bodies. States that this is due to the development of graphical simulation tools and outlines their role in “right first time” policies. Looks at applications of OLP at Volvo, Capponi Alesina (Fiat’s largest, painting subcontractor) and Applied Manufacturing Technologies, a US manufacturing systems design house. Describes the use of OLP in painting machines and truck painting, and in spot welding truck bodies.

Details

Industrial Robot: An International Journal, vol. 24 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 27 April 2012

Pedro Neto, Nuno Mendes, Ricardo Araújo, J. Norberto Pires and A. Paulo Moreira

The purpose of this paper is to present a CAD‐based human‐robot interface that allows non‐expert users to teach a robot in a manner similar to that used by human beings to teach…

Abstract

Purpose

The purpose of this paper is to present a CAD‐based human‐robot interface that allows non‐expert users to teach a robot in a manner similar to that used by human beings to teach each other.

Design/methodology/approach

Intuitive robot programming is achieved by using CAD drawings to generate robot programs off‐line. Sensory feedback allows minimization of the effects of uncertainty, providing information to adjust the robot paths during robot operation.

Findings

It was found that it is possible to generate a robot program from a common CAD drawing and run it without any major concerns about calibration or CAD model accuracy.

Research limitations/implications

A limitation of the proposed system has to do with the fact that it was designed to be used for particular technological applications.

Practical implications

Since most manufacturing companies have CAD packages in their facilities today, CAD‐based robot programming may be a good option to program robots without the need for skilled robot programmers.

Originality/value

The paper proposes a new CAD‐based robot programming system. Robot programs are directly generated from a CAD drawing “running” on a commonly available 3D CAD package (Autodesk Inventor) and not from a commercial, computer aided robotics (CAR) software, making it a simple CAD integrated solution. This is a low‐cost and low‐setup time system where no advanced robot programming skills are required to operate it. In summary, robot programs are generated with a high‐level of abstraction from the robot language.

Details

Industrial Robot: An International Journal, vol. 39 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 October 1994

Jack Hollingum

A report from a meeting of the Institution of Electrical Engineers atwhich the problem was considered of the shortfall between robot simulation inthe design office and the reality…

287

Abstract

A report from a meeting of the Institution of Electrical Engineers at which the problem was considered of the shortfall between robot simulation in the design office and the reality of the robot in operation on factory floor Discusses the importance of cell calibration if Off‐line programming is to be effective and the need for more accurate programming with modules that precisely simulate the motion behaviour of robots.

Details

Industrial Robot: An International Journal, vol. 21 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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