New developments on Industrial Robotics - … precision assembly etc.) will increasingly depend on...

New developments on Industrial RoboticsNew developments on Industrial Robotics

‐ from the coworker scenario to the cognitive factory scenario

J. Norberto PiresDepartamento de Engenharia Mecânica

F ld d d Ciê i T l iFaculdade de Ciências e TecnologiaUniversidade de Coimbra

email: [email protected]// /

Download: http://robotics.dem.uc.pt/norberto/comimsa2008.pdf

web: htp://robotics.dem.uc.pt/norberto

topics

• Productive Robotics• Programmingg g• Input‐output • Devices & Sensors

h b h• Teach‐by‐showing• CAD and SOA• Welding developments and applications• Welding developments and applications• Coworker scenario• Hyperflexible cellyp• Cognitive factory

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industrial robot programmingthink about SMEs

99.8%

80.8%

65%

companies employment GDP

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industrial robot programmingthink about SMEs – www.smerobot.org

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industrial robot programmingthink about SMEs Video at www.smerobot.org

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industrial robot programmingthink about SMEs

U it C tUnit Costs1,000

robot

100 automatedtransfer line

robotautomation

10

manualmanufacturing

1

transfer line

210 12

SME b t

Unit costreduction

431

Units/Year

SMErobotautomation Flexibility

increase

j. norberto pires 100 1,000 10,000 100,000 1,000,0000.1

Units/Year

industrial robot programming

index• introduction• industrial robots and programming?• where are the problems?• where are the problems?• a few introductory and illustrative examples• scenarios: coworker scenario, hyperflexible cell, cognitive factory

• programming input-output devices• sensors and force-control• high-level programming: CAD based programming, SOA

teach by demonstration• teach-by-demonstration• Welding developments and applications

• industrial cases• long-term challenges

j. norberto pires


Industrial robots are considered as a cornerstone of competitive manufacturing hi h i t bi hi h d ti it lit d d t bilit t i i l t

introduction

which aims to combine high productivity, quality and adaptability at minimal cost.

In 2007 more than one million industrial robot installations were reported with automotive industries the predominant users with a share of more than 60 %automotive industries the predominant users with a share of more than 60 %.

However, high-growth-industries (in life-sciences, electronics, solar cells, food, and logistics) and emerging manufacturing processes (gluing, coating, laser-based processes, precision assembly etc.) will increasingly depend on advanced robot technology.

The production of industrial robots on the one hand and the planning integration andThe production of industrial robots on the one hand, and the planning, integration and operation of robot workcells on the other hand are largely independent engineering tasks. In order to be produced in sufficiently large quantities, a robot design should meet the requirements for the widest set of potential applications.

Since this is difficult in practice, we can find specially designed robots for assembly, handling, welding, painting, palletizing, machining, etc.

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Generally, a robot workcell consists of one or more robots with controllers and robot i h l i t l f t d i d t i l t f t

introduction

peripherals: grippers or tools, safety devices, sensors, and material transfer components for moving and presenting parts. Typically, the cost of a complete robot workcell is typically four times the cost of the robots alone.

A robot workcell is usually the result of customized planning, integration, programming and configuration, requiring significant engineering expertise. Standardized engineering methods, tools, and best practice examples have become available to reduce costs and provide more predictable performance .

Today’s industrial robots are mainly the result of the requirements of capital-intensive large-volume manufacturing mainly defined by automotive electronics and electricallarge-volume manufacturing, mainly defined by automotive, electronics and electrical goods industries. Future industrial robots will not be a mere extrapolation of today’s designs with respect to features and performance data, but will rather follow new design principles addressing a wider range of application areas and industries. At the same time, new technologies, particularly from the IT world, will have an increasing impact on the design, performance and cost of future industrial robots.

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International and national standards now help to quantify robot performance, define f t ti t d di i t f

introduction

safety precautions, geometry and media interfaces.

Most robots operate behind secure barriers to keep people at a safe distance.

Recently, improved safety standards have allowed direct human-robot collaboration enabling robots and human factory workers to share the same space in safety.

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The invention of the industrial robot dates back to 1954 when George Devol filed a t t P d A ti l T f

brief history

patent on a Programmed Article Transfer.

After teaming up with Joseph Engelberger, the first robot company, Unimation, was founded which put the first robot into service at a General Motors plant in 1961 forfounded which put the first robot into service at a General Motors plant in 1961 for extracting parts from a die casting machine. Most of the hydraulically actuated “Unimates” were sold through the following years for workpiece handling and for spot-welding of car bodies. An innovation driven industry was born. However, it took many years until this industry became profitable.

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First introduced in 1973, the IRB-6 has been a breakthrough development as it was the fi t i l b t d t hi h bi d ll l t i d i t h l d

brief history

first serial robot product which combined all-electric-drives technology and a microcomputer for programming and motion control. The robot proved very robust. Life-times of more than 20 years in harsh productions were reported.

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The Selective Compliance Assembly Robot Arm (SCARA) is particularly suited for bl t k it bi i idit i th ti l i d li i th

brief history

assembly tasks as it combines rigidity in the vertical axis and compliance in the horizontal axis. In 1978, the first Hirata AR-300 was put together. The SCARA design combines three or four rotational and one translational axis.

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In 1974, Cincinnati Milacron introduced the first microcomputer controlled robot. The first T3 (“Th T T l”) d l d h d li d i l t th l d b

brief history

T3 (“The Tomorrow Tool”) models used hydraulic drives, later they were replaced by electric motors. The CM robotics division was acquired by ABB in the late 1970s.

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This 6 axis PUMA (Programmable Universal Machine for Assembly) came close to the d t it f h Aft it l h i 1979 b U i ti it b f th

brief history

dexterity of a human arm. After its launch in 1979 by Unimation it became one of the most popular arms and was used as a reference in robotics research for many years.

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Spot welding quickly became a primary application for robots as these jobs were ti l l h ti d h d f k A t i l b d ldi li f

brief history

particularly exhausting and hazardous for workers. A typical car body welding line from 1985 is displayed. The car model shown is a French Citroën CX.

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An automated VCR assembly line (ca. 1989) with SCARAs carrying a turret with multi-i t l T i ll fi t dd d b b t b f th VCR i d t th

brief history

gripper tools. Typically five parts are added by one robot before the VCR is moved to the next station of the fully automated assembly line.

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Parallel kinematic machines (PKM) represent an interesting approach to achieve high tiff t l i ti th ll i t hi h d ti I iti ll t d b

brief history

stiffness at low inertia, thus allowing accurate, high speed motions. Initially suggested by Clavel this 4 axis robot is used for high speed pick-and-place tasks. The robot reaches accelerations of up to 10 g.

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The KUKA light-weight robot is the result of a long research and development process t d d i ith i ht t l d ti f 1 1 Th 7 i hi h i

brief history

towards an arm design with a weight-to-payload ratio of 1:1. The 7 axis arm which is suited for human-robot cooperation imitates the dexterity of a human arm.

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The roboLoop of Güdel is a curved-track gantry and transfer system. One or more robot i l t i i l d t Th t b i t ll d d d i

brief history

arms circulate as carriers in a closed system. The system can be installed suspended, in gantry configuration, or as a floor-standing system. A signal bus allows the control and coordination of multiple robo-carriers.

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Motoman’s DA-20 dual-arm robot provides high-speed motion with two six-axis arms th t id h d h lik fl ibilit f t Th b t l id ji

brief history

that provide enhanced, human-like flexibility of movement. The robot also provides jig-less operation with one robot arm holding part while the other performs operations on the held part.

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In parallel to industrial robots Automated Guided Vehicles (AGVs) have emerged. Th bil b t d f i k i l di i t f i t t

brief history

These mobile robots are used for moving workpieces or loading equipment from point to point. Within the concept of automated flexible manufacturing systems (FMS) AGVs have become an important part of their routing flexibility. Initially AGVs relied on prepared floors such as embedded wires or magnets for motion guidance Meanwhileprepared floors such as embedded wires or magnets for motion guidance. Meanwhile, freely navigating AGVs are used in large scale manufacturing and logistics. Usually, their navigation is based on laser scanners which provide an accurate two-dimensional map of the actual environment for self localization and obstacle avoidance . Early on combinations of AGVs and robot arms were realized to automatically load and unload machine tools. Only in some selected environments such as (un-)loading process equipment in the semiconductor industry, these mobile arms were economically advantageousadvantageous.

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By 2007, the evolution of industrial robots was marked by the following main t d

brief history

trends:

• The average robot unit price fell to about one third of its equivalent price in 1990 which means that automation is becoming more affordable At the same time thewhich means that automation is becoming more affordable. At the same time, the robot performance such as speed, load capacity, mean-time-between-failure (MTBF) has dramatically improved. These improvements provide a faster return on investment, particularly for small, short-run batch production.

• Off-the-shelf components from PC technologies, consumer software and the IT industry have contributed to improved performance-cost ratios. Today, most manufacturers integrate PC- based processors in their controllers as well as PC-related software for programming communication simulation and maintenancerelated software for programming, communication, simulation, and maintenance.

• Multiple robots can be programmed and synchronized in real-time by one controller which allows robots to precisely cooperate on a single workpiece.

• Increasingly, vision systems for object identification, localization, and quality control become an integral part of the robot controller.

• Robots are networked by fieldbuses or Ethernet for control, configuration, and maintenance.

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• New financing arrangements allow end-users to rent a robot or even have a robot

brief history

workcell operated by a specialized company or even the robot supplier in order to reduce risks or to save on investment capital.

• Training and education programmes have become important services to the end-users to increase acceptance of robot technology Specific multimedia material andusers to increase acceptance of robot technology. Specific multimedia material and courses aim at educating industrial engineers and workforce to effectively plan, operate and maintain industrial robot workcells.

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• Welding

Typical applications

• Painting• Car body assembly• Material transfer automation• …

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A scene containing the objects is acquired by a 3D-sensor e.g. based on the laser

Non-traditional: been picking

g j q y gtriangulation principle. Beforehand the CAD-object-model has been virtually turned in discrete spatial angles in an off-line calculation. Feature histograms for each view are generated and stored in a database. A best match between actual f t hi t d th i l t d t f hi t d t i th l tifeature histograms and the simulated sets of histograms determines the location of the object. A grasp has to be selected and a collision-free trajectory is generated. A typical cycle time of a location process is between 1 and 3 s.

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industrial robot programmingNon-typical: Machining

In this example, the forming process of metal sheets is based on an oscillating stamp (amplitude 1 mm 50 Hzbased on an oscillating stamp (amplitude 1 mm, 50 Hz frequency) which locally plastifies the metal in incremental steps. From the CAD model (top left), the robot’s trajectories are calculated on the basis of specific material j pmodels (bottom left). Each line represents a part of the tool trajectory. The robot’s program is calculated automatically off-line and communicated to the robot controller when requiredcontroller when required.

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Inside a regular workcell which is secured by light curtains, the robot handles gear

Non-typical: HMI

g y g , gboxes at regular speed in fully automated mode. Upon approaching the light curtain at reduced speed, the worker grasps the safety switch which activates both the reduced-speed mode and the force-torque sensor. The worker guides th b t l t ff tl l b it h dl th t th b i b l d iththe robot almost effortlessly by its handle so that the gear-box is balanced with precision into the rear axle frame for final assembly.

Robot with gripper

Safety switch/handle

Light-curtain

Workpiece support

Rear axle

j. norberto pires Protected area

Laserscanner (hidden)

Pictures: Fraunhofer IPA


Problem: We cannot instruct a robot in the same way that one would

programming

Problem: We cannot instruct a robot in the same way that one would instruct a human worker how to carry out a task. More specifically, as a wish-list that we will come back to at the end of the chapter, we would like to teach robots by:y

• Manually guiding the robot to the positions of interest, or even along the desired paths or trajectories if human accuracy is enough.p j y g

• Having simple ways to make use of CAD data whenever available.• Using different complementary modalities (paths of communication

between the human and the robot), such as speech and gestures.) g• Choreographing the task movements, for instance loops and

conditions, without requiring extensive programming competencies.• Means of describing acceptable variation, e.g. as expected or normal

deviations from the nominal path.• Specification of how external sensing should be used for new types of

motions or for handling unknown variation.

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We work with robots but we really don’t cooperate

programming

We work with robots but we really don t cooperate with them... We are still in the early stages of the coworker scenario.

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industrial robot programmingprogramming

Example: A CAD application could be the ppenvironment used for specifying how the robot should perform the required operations on the specifiedoperations on the specified parts. This is not quite task-level programming since human operators do the overall planning CADoverall planning. CAD software packages are powerful 3D tools and are now very common among manufacturing companiesmanufacturing companies. Consequently, using those tools for robot programming is desirable since the operator may start the off-operator may start the off-line programming of the necessary manufacturing operations using the 3D model of the product

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model of the product.

video

industrial robot programmingprogramming

Example: A CAD application could be the ppenvironment used for specifying how the robot should perform the required operations on the specifiedoperations on the specified parts. This is not quite task-level programming since human operators do the overall planning CADoverall planning. CAD software packages are powerful 3D tools and are now very common among manufacturing companiesmanufacturing companies. Consequently, using those tools for robot programming is desirable since the operator may start the off-operator may start the off-line programming of the necessary manufacturing operations using the 3D model of the product

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model of the product.

Video in Youtube: http://www.youtube.com/watch?v=v90SQYwyXmc

industrial robot programmingexamples in Portugal

PaletePalete

Esteiras de inspecçãoRobô Robô

Palete PaletePalete Palete

Eixo Linear

PC

Vídeo ROCA - resultsOther Example

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p


IVO:Demo – PrototypeToolTool

j. norberto pires Video in Youtube: http://www.youtube.com/jncps


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WP5: SOA architecturesindustrial robot programmingProgramming needs to be easier and accessible to any user…

SMErobot HLP framework


The high-level programming (HLP) concept applied to industrial robots means

HLP: High-Level Programming

The high level programming (HLP) concept applied to industrial robots means programming by any type of user (not restricted to specialists), independence of the platform and higher levels of abstraction. In fact, HLP can be understood as a set of techniques (offered probably has reusable software components) used to program SME ( ll d di t i ) b d f t i ll hi h hid f th(small and medium enterprises) based manufacturing cells, which hide from the programmer the tricky details about how to obtain the machine code necessary to implement agile manufacturing.

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• Integrate robot programming with cell programming. This means introducing i f ti i t th i ff t t ti f th th d t il d


process information into the programming effort, extracting from there the detailed system programming necessary to achieve the required operation;

• Integrate user interface devices making the maximum out of them and integratingIntegrate user interface devices making the maximum out of them and integrating easily their functionality: plug-and-produce concepts are here fundamental;

• Facilitate the re-programming task. The re-programming of industrial robotic systems is still a difficult, costly, and time consuming operation. In order to increase flexibility, a common approach is to consider the work-cell programming at a high level of abstraction, which enables a description of the sequence of actions at a task-leveltask-level.

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Using XML forms, including grammars, state charts, etc.. XML is a standard that can b d t if f t i ti f th l t k ll ith t iti d


be used to specify manufacturing actions for the complete work cell without writing code, and without generating binary code.

Using CAD packages to program robotic cells This solution is an interestingUsing CAD packages to program robotic cells. This solution is an interesting approach since CAD packages are available at SMEs and users are usually prepared to use it. Code generation can be available, but it could also be based on services, or RPC/XIRP calls.

Using Service oriented architectures (SOA). One of the things that a SOA should be is a suitable platform for the development of HLP features, which can occur during orchestration of services when assembling a program One of the keys for HLP isorchestration of services when assembling a program.. One of the keys for HLP is environment sensibility which is easily reached with a “hot plug-and-play” discovery as we found in UPnP. In this scenario UPnP -discovery (peer-to-peer) takes advantage.

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Using teaching by demonstration techniques. This approach includes all the t h i th t i th t th b t t ti b t hi th ti


techniques that require the user to program the robot starting by teaching the motions and dealing with the obtained results at a higher level. In fact, while it is possible to record position and orientation data directly in the working scenario, all other interactions shall be defined on a high level: integration of peripherals increasing the quality of theshall be defined on a high level: integration of peripherals, increasing the quality of the trajectory and adopting the program to the specific process. These interactions shall take place on a high level of autonomy or interaction with the user.

Integrating IO devices and systems: portable devices, speech interfaces, etc. This means the possibility to include these devices into the same high-level framework without going into the tricky details about how to program them, which can be done just by adopting SOA on a plug-and-produce environmentby adopting SOA on a plug-and-produce environment.

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industrial robot programmingFor example using speech Video in Youtube: http://www.youtube.com/jncps

j. norberto pires Teach-by-show robot-by-phone

industrial robot programmingHLP: High-Level Programming - speech

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WP1: Speech Interfaceindustrial robot programming

W ki b d XML

HLP: High-Level Programming - speech

- Working based on XML grammars

- Actually using Microsoft SAPI 5.3, but it’s independent of SR and TTS engines.

- Fully functional for English and Portuguese

- Fully tested at laboratory, using 80dB noise levels

- Fully tested under Windows Xp, Windows CE and Windows Mobile 2003/2005

- Fully tested using ABB robots (S4 and IRC5 controllers) and a few MOTOMAN robots (latest controller only)

- Cooperation established with MLDC – Microsoft Language Development Centre to add dictation features to upgrade the actual command based approach.

PDA interfacesWP1: Speech Interfaceindustrial robot programmingPDA interfaces

- PDA interfaces based on TCP, UDP and RPC k t

HLP: High-Level Programming – PDA interfaces

sockets.

- Work with any robot controller

- Fully programmable using regular programmingFully programmable, using regular programming tools: VB, C#, C++

- Fully tested on PDAs running WinCE

- Developments can be exported to any WinCE device.

- Useful for robot programming: teach and program

Videos:Speech with PDASpeech with PDAPDA Scripts – videoPDA CAM – video

WP5: SOA architecturesWP5: SOA architecturesindustrial robot programmingFor example using SOA – Service Oriented Architectures

Test Bed with UPnP already workingConveyor, Camera, Robot Abb IRC5.Cell Programmer provide support for simple service orchestration, with friendly interface.

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WP5: SOA architecturesWP5: SOA architecturesWP5: SOA architecturesindustrial robot programmingFor example using SOA – Service Oriented Architectures

Test Bed with UPnP already workingVoice Interface fully UPnP integrated.y gPDA Interface (development of an UPnP Stack for WCE5 (.Net Compact Framework 2.0).

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WP5: SOA architecturesWP5: SOA architecturesWP5: SOA architecturesindustrial robot programmingFor example using SOA – Service Oriented Architectures

Current Work (finished in December 2007): Implementing Microsoft’s Robotics Studio SOA – Decentralized System Services DSS in the same Test Bed.

Support the SOA implementation with adequate tools:Extend Cell Programmer features: Concurrency support logical operators (And Or )support, logical operators (And, Or..).Extend the automatic UPnP device generation to the robot using Compiler Technology.

Combine with HLP: Support High Level Programming HLP underlying SOA.

Video

Video in Youtube: http://www.youtube.com/jncps

WP5: SOA architecturesWP5: SOA architecturesindustrial robot programmingWP5: SOA architecturesFor example using SOA – Service Oriented Architectures

Generating UPnP services from RAPID

UPnP network

g

SOA and SCXMLWP5: SOA architecturesWP5: SOA architecturesindustrial robot programmingSOA and SCXMLFor example using SOA – Service Oriented Architectures

WP5: SOA architecturesWP5: SOA architecturesindustrial robot programmingFor example using SOA – Service Oriented Architectures

industrial robot programmingFor example using accelerometers

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industrial robot programmingIndustrial cases

j. norberto pires Video in Youtube: http://www.youtube.com/watch?v=v6EqmSgcERc

industrial robot programmingHLP: High-Level Programming – coworker scenario

Programming Using CAD FilesProgramming Using CAD FilesSimulation of the RealityVisual and

Auditory feedback

Man Machine InterfaceMan – Machine Interface

CameraSmart Tools

Visual and Vibrotactile feedback

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Force/Torque SensorTactile Sense


It is common to say that industrial robots perform preprogrammed actions in a


It is common to say that industrial robots perform preprogrammed actions in a specifically prepared and highly structured environment, leading to the conclusion that they have no need for perception and on-the-task human interaction. This somehow traditional idea is drastically changed in the coworker scenario where robots and humans cooperate to fulfill a common goal. In fact, in that scenario the environment is less structured and the human operator is supposed to “program” the robot as the work unfolds.

This means that the robotic systems require some level o autonomy so that they can handle the information about the environment and the human user, and must be programmable on-the-task (on-line) using a natural and very intuitive user interface. p g ( ) g ySuch an interface may be based on the robot’s recognition of user instructions, which probably means the adoption of speech interfaces, vision systems for object or user detection/recognition and gesture and gaze identification, and the utilization of several physical interaction devices (force touch)physical interaction devices (force, touch).

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industrial robot programmingHLP: High-Level Programming – CAD + digital pens

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industrial robot programmingHLP: High-Level Programming – digital PENS

link

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Sensors

ActuatorsApplication

(using ActiveX component and/or TPC-IP sockets)PC

User Interface

PCROB

Message

Object A

Object B

IO, fieldbus or specific card driver

TCP/UDP Message Handler

Message Queue

Object B

User Interface Object A

Object BOPC AE server

Client

Server Portmap

Event:

j

Application

(OPC client)

OPC client

OPC DA serverEvent:Asynchronous call

Local Area Network

Asynchronous call and answer

Services

PLC

ServerIO PLC-like interface

Robot Controller

Server

Sensors

ServicesRobot

ControlSystem

IO PLC like interfaceand fieldbus

ActuatorsRobot

Sensors

Actuators

Welding application – very simple case and example

o Currently, since the vast majority of companies use CAD programs to design their products, information from CAD files could be used to generate robot welding programs. That is, the CAD application could be the environment used for specifying the way the welding robots should handle the production of the specific parts.the way the welding robots should handle the production of the specific parts.

o Since most welding engineers are familiarized with CAD, this could be a nice way to proceed.

o The application presented here enables the user to work on the CAD file, defining both the welding path and the approach/escape paths between two consecutive welds andthe welding path and the approach/escape paths between two consecutive welds, and organize them in the desired welding sequence.

o When definition is complete, a small program, written in Visual Basic, extracts motion information from the CAD file and converts it to robot commands that can be immediately tested for detailed tuningimmediately tested for detailed tuning.

o A set of tools is then available to speed up necessary corrections, which can be made on-line with the robot moving. After a few simulations (robot performing all motions without welding) the program is ready for production.

o The whole process can be completed in just some minutes to a few hours, depending on the size and complexity of the component to be welded, representing a huge reduction of programming and setup time. Besides most of the work is easy off-line programming.

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Welding application: CAD interface

Zy

x

59


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Welding_Test4Point 1

Name of the fileNumber of pointsPoint number XPoint 1

Origin1656.419922-444.451813

Point number XName of the pointType of point welding – 0, fly-by - 1)x valuey value z value730.853149

0.0919800.0016900.9957600.002070

z valueQuaternion q1 Quaternion q2Quaternion q3Quaternion q4fin

ition

0.0020700-1008999999488

cf1 cf4cf6cfxExternal joint 1g

poin

t def

89999994888999999488899999948889999994888999999488

External joint 1External joint 1 External joint 1 External joint 1 External joint 1

Wel

ding

89999994880.000.001005

External joint 1 Current [A]Voltage [V]Velocity [mm/s]Precision

61

50 Type of motion (linear – 0, circular – 1, joints - 2)

62


AutoCAD 2004AutoCAD 2004

Visual Basic NETVisual Basic NETVisual Basic .NETVisual Basic .NET

Visual C++ .NETVisual C++ .NET


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64Video in Youtube: http://www.youtube.com/jncps

industrial robot programmingIndustrial cases

j. norberto pires

industrial robot programmingSoftware for process monitoring, seam tracking and quality control

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industrial robot programmingSoftware for process monitoring, seam tracking and quality control

j. norberto pires Video in Youtube: http://www.youtube.com/jncps

industrial robot programmingvídeos

The perspective here is the coworker scenario.p p

Soporcel PM2 – PM1SSGP Rebarbagem – Modelo – RealAlb t fi ãAlbert - reconfiguraçãoSMErobot videoSpeech with PDASpeech Welding - vídeoSpeech Welding vídeoRita Catita -vídeoRita Catita MobileSpeech with noise – industrialD S ídDemo at Stuttgart - vídeoPDA Scripts - vídeoDemo Biomédica - vídeoVoice4Robotics – vídeo

YY

Voice4Robotics vídeoIA20 - demo“Humanoide” – vídeo“HFeira” - vídeo

XX

j. norberto pires Videos: http://robotics.dem.uc.pt/norberto


Roca tanques

Industrial cases

Roca tanquesRoca caixasSSGP rebarbagemSSGP finalSSGP I édiSSGP IntermédioSSGP JardelSOPORCEL novaSOPORCEL VelhaSOPORCEL Velha

j. norberto pires Videos: http://robotics.dem.uc.pt/norberto


Conclusions

Industrial cases

Conclusions

Industrial Robotics came a long way since the seventies. The current challenges were briefly presented here:

1. Ways to interface users (usually non-skilled users);2. Use of devices for more friendly integration of machines and human operators;3 Programming using CAD packages and other current engineering tools;3. Programming using CAD packages and other current engineering tools;4. New sensors, intelligent sensors;5. High Level Programming.

The objective is to further develop the coworker scenario and establish the grounds for the future scenario where robots have cognitive capabilities and can truly cooperate, advise and help humans: cognitive factory scenario.

To download this presentation: http://robotics.dem.uc.pt/norberto/comimsa2008.pdf

j. norberto pires

Productive Robotics

C t tContact: J. Norberto Pires

[email protected]

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