Authors:
Markus Ehrmann
;
Jochen Schlick
;
Marc Seckner
and
Detlef Zuehlke
Affiliation:
Institute for Production Automation, Kaiserslautern University of Technology, Germany
Keyword(s):
Robot programming, visual programming, micro assembly, interference handling.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
Abstract:
Over the past years requirements and size of robot programs have continuously increased. Especially assembly processes increasingly integrate sensors and sensor-based positioning methods to ensure safe processes. Until now programming is realized in manufacturer-dependent text-oriented or graphic-supported simulation systems. If such complex processes have to be realized, both methods result in various disadvantages: Text-oriented programs loose their overview and simulation systems are in need of entire environment models. Due to these reasons, a new concept has been developed in order to improve and simplify the programming of complex sensor based assembly processes. The main objectives of the concept are reducing complexity of robot programs, facilitating clearness for users, supporting diagnostics and handling of trouble during programming. Therefore the technique of visual programming is used and the program is described in an abstract manner by linking graphical symbols. They r
epresent movement of robots and positions of endeffectors. To execute various tasks, so called actions are assigned to the program flow. Further on a concept for handling occurring troubles is integrated. So called exceptions are user-defined and consist of various types of troubles. If an exception is triggered, the program flow will be interrupted and reactions take place. For validation, the concept has been successfully implemented in a tool, named PRIMOS (Programming Robots with an Interference Handling Motion Orientated System). It has been positively evaluated by programming a sensor based assembly process of flanges on optical fibres.
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