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A semiautomatic task-oriented programming system for sensor-controlled robotised small-batch and one-off manufacturing

Published online by Cambridge University Press:  10 November 2005

Per Cederberg ,
Magnus Olsson  and
Gunnar Bolmsjö
Per Cederberg
Affiliation:
Div. of Robotics, Lund University, P.O. Box 118, SE-221 00 Lund (SWEDEN) E-mail: pcederberg@robotics.lu.se, molsson@robotics.lu.se, gbolmsjo@robotics.lu.se
Magnus Olsson
Affiliation:
Div. of Robotics, Lund University, P.O. Box 118, SE-221 00 Lund (SWEDEN) E-mail: pcederberg@robotics.lu.se, molsson@robotics.lu.se, gbolmsjo@robotics.lu.se
Gunnar Bolmsjö
Affiliation:
Div. of Robotics, Lund University, P.O. Box 118, SE-221 00 Lund (SWEDEN) E-mail: pcederberg@robotics.lu.se, molsson@robotics.lu.se, gbolmsjo@robotics.lu.se
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Abstract

A task-oriented system structure has been developed. In normal industrial robot programming, the path is created and the process is based on the path. Here a process-focused method is proposed, where a task can be split in sub-tasks, one for each part of the process with similar process-characteristics. By carefully encapsulating the information needed to execute a sub-task, this component can be re-used whenever the actual sub-task occurs. Applications using system design do not change between simulation and actual shop floor runs and the system allows a mix of real- and simulated components during simulation and run-time.

Keywords

Sensor simulationTask-oriented programmingIndustrial roboticsSmall-batch manufacturing
Type
Research Article
Information
Robotica , Volume 23 , Issue 6 , November 2005 , pp. 743 - 754
Copyright
© 2005 Cambridge University Press

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