Hostname: page-component-848d4c4894-hfldf Total loading time: 0 Render date: 2024-06-01T19:21:50.762Z Has data issue: false hasContentIssue false
  • English
  • Français

Automatic simulation of a robot program for a sequential manufacturing process

Published online by Cambridge University Press:  09 March 2009

Witold Jacak  and
Jerzy W. Rozenblit
Witold Jacak
Affiliation:
Institute of Technical Cybernetics, Technical University of Wroclaw, Wyb. Wyspianskiego 27, 50–370 Wroclaw (Poland).
Jerzy W. Rozenblit
Affiliation:
Department of Electrical and Computer Engineering, University of Arizona, Tucson, Arizona 85721 (U.S.A.).
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a framework for the design of a hierarchical Simulator of a robotized sequential technological process. The framework employs concepts of discrerte event simulation modelling. The Simulator consists of two layers: the Simulator of a robot and technological process, and the interpreter and planner of robot tasks. A format specification of both layers is presented. The proposed simulation approach is expected to result in significant improvements in the robot task plan generation and in higher efficiency of a technological process.

Keywords

Robot MotionSimultaionProcess ModelingSequential manufacturing
Type
Article
Information
Robotica , Volume 10 , Issue 1 , January 1992 , pp. 45 - 56
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Sanderson, A.C., Zhang, H. and de Mello, L.S. Homem, “Assembly Sequence Planning” AI Magazine 11 (1), 62–82 (1990).Google Scholar
2.Kusiak, A. and Finke, G., “Selection of Process Plans in Automated Manufacturing Systems”, IEEE Trans. on Robotics and Autom. 4 (4), 397–408 (1988).CrossRefGoogle Scholar
3.Nagata, T. and Honda, K., “Multirobot Plan Generation in a Continuous Domain: Planning by Use of Plan Graph and Avoiding Collisions among Robots”, IEEE Trans. on Robotics and Autom., 4 (1), 1–13 (1988).Google Scholar
4.Hutchinson, S.A. and Kak, A.C., “SPAR: A Planner That Satisfies Operational and Geometric Goals in Uncertain Environments” Al Magazine, 11 (1), 30–61 (1990).Google Scholar
5.Faverjon, B., “Object level programming of industrial robot” IEEE Int. Conf. on Robotics and Automation 2, 1406–1411 (1986).Google Scholar
6.Speed, R., “Off-line Programming for Industrial Robots” Proc. of ISIR 87 2110–2123 (1987).Google Scholar
7.Jacak, W. and Sierocki, I., “Software Structure for Design of Automated Work-Cell” Cybernetics and Systems '90 (Ed. R. Trappl) (Kluver Ac. Publ., Vienna, 1990) pp. 216–225.Google Scholar
8.Zeigler, B.P., 'Multifacetted Modelling and Discrerte Event Simulation”, (Academic Press, London, 1984).Google Scholar
9.Rozenblit, J.W. and Zeigler, B.P., “Design and Modelling Concepts” Encyclopedia of Robotics (John Wiley, N.Y., 1988).Google Scholar
10.Rozenblit, J.W. and Zeigler, B.P., “Entity-Based Structures for Model and Experimental Frame Construction” In: Modelling and Simulation in Artificial Intelligence Era (Ed. Elzas, M.S. et al. ) (North Holland, Amsterdam, 1986).Google Scholar
11.Lozano-Perez, T., “Task-level Planning of Pick-and-Place Robot Motions” IEEE Trans. on Computer 38 (3), 21–29 (1989).Google Scholar
12.Brooks, R., “Planning Collision-free Motions for Pick-and-Place Operations” Int. J. Robotics Res. 2 (4), 19–44 (1983).CrossRefGoogle Scholar
13.Brady, M., Robot Motion: Planning and Control (MIT Press, Cambridge MA, 1986).Google Scholar
14.Jacak, W., “A Discrerte Kinematic Model of Robots in the Cartesian Space” IEEE Trans. on Robotics and Automation 5 (4), 435–444 (1989).CrossRefGoogle Scholar
15.Jacak, W. “Strategies of Searching for Collison-free Manipulator Motions: Automata Theory Approach” Robotica 7, 129–138 (1989).CrossRefGoogle Scholar
16.Jacak, W., “Modelling and Simulation of Robot Motions” Lecture Notes in Computer Science 410 (Springer Verlag, Berlin, 1990) pp. 751–758.Google Scholar
17.Lozano-Perez, T., “Spatial-Planning: A Configuration Space Approach” IEEE Trans. on Computer 32 (2), 108–119 (1983).CrossRefGoogle Scholar
18.Lozano-Perez, T., “A simple Motion Planning Algorithm for General Robot Manipulators” IEEE Trans. on Robotics and Autom. 3 (2), 224–238 (1987).CrossRefGoogle Scholar
19.Jacak, W., “Robot Task and Movement Planning” In: AI, Simulation and Planning in High Autonomy Systems (Ed. Zeigler, P.B., Rozenblit, J.W.) (IEEE Comp. Soc. Press, Los Alamitos, CA 1990) pp. 168–176.Google Scholar
20.Jacak, W., “Discrerte Kinematic Modelling Techniques in Cartesian Space for Robotic System” In: Advances in Control and Dynamics Systems (Ed. Leondes, C.T.) (Academic Press, Orlando, Florida) (in print).Google Scholar
21.Luh, J.Y., Lin, C. and Chang, P., “Formulation and Optimization of Cubic Polynomial Joint Trajectories for Industrial Robot” IEEE Trans. on Automatic Control 28 (12), 1066–1074 (1983).Google Scholar
22.Shin, K. and McKay, N., “A Dynamic Programming Approach to Trajectory Planning of Robotic Manipulators” IEEE Trans. on Automatic Control 31 (6), 491–500 (1986).CrossRefGoogle Scholar
23.Shin, K. and McKay, N., “Minimum-Time Control of Robotic Manipulators with Geometric Path Constraints” IEEE Trans. on Automatic Control 30 (6), 531–541 (1985).CrossRefGoogle Scholar
24.Tan, H. and Potts, R., “Minimum Time Trajectory Planner for the Discrerte Dynamic Robot Model with Dynamic Constraints” IEEE Trans. on Robotics and Automation 4 (2), 174–185 (1988).CrossRefGoogle Scholar