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A simulation model for use in designing robotic assembly cells
• l ofrManyfacturing n a t Systems L l ln ~ 1 ~.J.IMO. J.
Cumulative Abstract Index
its application in three problems, i.e., Modeling of positioning error of a machine under varying thermal conditions, modeling tool wear and tool wear rate, and modeling of cutting forces is presented. Keyworda: Modeling, Adaptive Control, Positioning Errors, Tool Life, Metal Cutting, FMS, CIM
1988~ Vol. 7/No. 4 A Simulation Model for Use in Designing Robotic Assembly Cells, C. Cash, W. Wilhelm, pp. 279-91 This paper describes an approach for modeling the operations of robotic assembly cells as well as a simulation model whichhnplements the approach. Use of the model as a decision aid for the cell design~ is demonstrated using a hypothetical example. A variety of typical "what if' studies are made and used to support recommendations for improved cell design. The antithetic variate variance reduction method is applied to analyze the trade-off between precision achieved and run time required by the simulation model.
This paper describes a new control architecture and a set of underlying design principles for developing and implementing faulttolerant m*nofacturing systems consisting of processing machines, robots, control computers and human operators. Significant innovations in the approach include the concept of "intelligent manufactured parts", the use of a "flat" beterarchicel architecture as opposed to the widely used hierarchical architecture, unification of simulation and control in system development and operation, integration of humans as "colleagues" of other entities rather than "masters", end achievement of implicit modifiability and fanlt-tolerance. An experimental heterarchically controlled manufacturing system has been developed in which robotic cells manipulate and manufacture parts. The system is comprised of ~ n d e n t robot,.part processing, mJnefactured part. and bum!n entities that cooperatively control the system through messages exchanged on a communication network. Successful design and implementation of the expe~nental system has shown that the approach presented in this paper has attractive properties that should be considered in future system designs, addressing a need for new system architectures and design philosophies that result in reduced complexity, higher fault tolerance, shorter development times, and lower development costs. Keywords:Distributed Control, Hetm'archic~ Systems, Fault Tolerance, Hi~chicel Systems, Dlstn'buted Intelligence, System
Integration
Method
Robotic Deburring of Two.DimensionalParts with Unknown Geometry, H. Kaxereoni, pp. 329-38 The work presented here is an approach in robotic deburring of twodimensional parts with unknown geometry. Two problems have been addressed in this paper: tracking the part contour, and control of the metal removal process. The tracking mechanism is a roller bearin~ mounted on a force sensor at the robot endpeint. The tracking control loys the force measured by this force sensor to find the normal to_ • part surface, while the deburring algorithm uses another set Ot
Task Level Off.LineProgramming Systemfor RoboticArc Welding.An Overview,J.Rubinovitz,R. Wysk, pp. 293-306 A structure for a CAD based, task level off-line prngramming system for robotic arc welding is presented. The welding task is specified using a solid modeling CAD system. A model of the robot motion capabilities, as well as several algorithms, are used to plan the thof motion between weld seams for the robotic welding process. • output of the system, in the form of a robot level program, is transferred to a specific robot controller using an interface module, which was also created for this research. An example welded part is used to show that the system can enhance the productivity and efficiency of robotic arc welding, for both low batch and high batell production. Keywords:Robotics, Off.L/me P r o ~ , Arc Welding, CAD, CAM, Productivity
~
effectiveness of the approach. Keywords: Robotics, Control, Deburring
A Review of Recent Developments in Robot Metrology, B. Jiang, J. Black, R. Duralsamy, pp. 339-57 This•aper provides a review of various measurement techniques, and testing methods, conditions and specifications (TMCS) for determining performance of. a robot. First, the principles of operation, accuracy and rapeatabdlty of measurement systems, and any special features are summarized. Then, the TMCS pronged by the Robotic industries Association, the International Organization for Standardization, a Japanese standard testing proposal, and several individuals are reviewed, and future research needs ere identified. Keywords:Robotics, Melrolo~, Performance Measurements, 3-D Measurements
A KinematicApproachfor Coordinated Motion of a Robot and a Positioning Table, M. Jouaneh, D. Dornfeld, pp. 307-14 Tracking a path for such applications as welding using a coordinated motion scheme between a five axis robot and a two-dimensional table offers several advantages over the use of a single manipulator. Faster execution speed, ability to handle large workpieces, and improvements in tracking accuracy at sharp corners in the path can be achieved through such a scheme. This paper discusses a method for coordinating the motion of two such manipulators where the two s~?Alators are simultaneously moved to track a path at constant method for resolving the motion among the two manipulators based on kinematics is presented. Implementation of the scheme on an industrial manipulator and a positioning table is discussed. Actual results of tracking a path under different control scenarios are presented. Keywords: Coordinated Motion, Two Manipulators, Path Planning, Kinematic Approach
1989~ Vol. 8/No. 1 Automating Process Planning: Using Feature Interactions to Guide Search, C.-Hayes, P. Wright, pp. 1-16 Machinist is an expert system that automatically makes procuss plans for fabricating metal parts on a CNC machine tool. It is part of an overall effort to automate the job shop. The type ot parts that it handles are prismatic, with features cut into one or
Fault-Tolerant Heterarchieal Control of Heterogeneous Manufacturing System Entitles, N. Duffle, R. Chitturi, J. Mou, pp. 315-27
68
Cumulative Abstract Index
its application in three problems, i.e., Modeling of positioning error of a machine under varying thermal conditions, modeling tool wear and tool wear rate, and modeling of cutting forces is presented. Keyworda: Modeling, Adaptive Control, Positioning Errors, Tool Life, Metal Cutting, FMS, CIM
1988~ Vol. 7/No. 4 A Simulation Model for Use in Designing Robotic Assembly Cells, C. Cash, W. Wilhelm, pp. 279-91 This paper describes an approach for modeling the operations of robotic assembly cells as well as a simulation model whichhnplements the approach. Use of the model as a decision aid for the cell design~ is demonstrated using a hypothetical example. A variety of typical "what if' studies are made and used to support recommendations for improved cell design. The antithetic variate variance reduction method is applied to analyze the trade-off between precision achieved and run time required by the simulation model.
This paper describes a new control architecture and a set of underlying design principles for developing and implementing faulttolerant m*nofacturing systems consisting of processing machines, robots, control computers and human operators. Significant innovations in the approach include the concept of "intelligent manufactured parts", the use of a "flat" beterarchicel architecture as opposed to the widely used hierarchical architecture, unification of simulation and control in system development and operation, integration of humans as "colleagues" of other entities rather than "masters", end achievement of implicit modifiability and fanlt-tolerance. An experimental heterarchically controlled manufacturing system has been developed in which robotic cells manipulate and manufacture parts. The system is comprised of ~ n d e n t robot,.part processing, mJnefactured part. and bum!n entities that cooperatively control the system through messages exchanged on a communication network. Successful design and implementation of the expe~nental system has shown that the approach presented in this paper has attractive properties that should be considered in future system designs, addressing a need for new system architectures and design philosophies that result in reduced complexity, higher fault tolerance, shorter development times, and lower development costs. Keywords:Distributed Control, Hetm'archic~ Systems, Fault Tolerance, Hi~chicel Systems, Dlstn'buted Intelligence, System
Integration
Method
Robotic Deburring of Two.DimensionalParts with Unknown Geometry, H. Kaxereoni, pp. 329-38 The work presented here is an approach in robotic deburring of twodimensional parts with unknown geometry. Two problems have been addressed in this paper: tracking the part contour, and control of the metal removal process. The tracking mechanism is a roller bearin~ mounted on a force sensor at the robot endpeint. The tracking control loys the force measured by this force sensor to find the normal to_ • part surface, while the deburring algorithm uses another set Ot
Task Level Off.LineProgramming Systemfor RoboticArc Welding.An Overview,J.Rubinovitz,R. Wysk, pp. 293-306 A structure for a CAD based, task level off-line prngramming system for robotic arc welding is presented. The welding task is specified using a solid modeling CAD system. A model of the robot motion capabilities, as well as several algorithms, are used to plan the thof motion between weld seams for the robotic welding process. • output of the system, in the form of a robot level program, is transferred to a specific robot controller using an interface module, which was also created for this research. An example welded part is used to show that the system can enhance the productivity and efficiency of robotic arc welding, for both low batch and high batell production. Keywords:Robotics, Off.L/me P r o ~ , Arc Welding, CAD, CAM, Productivity
~
effectiveness of the approach. Keywords: Robotics, Control, Deburring
A Review of Recent Developments in Robot Metrology, B. Jiang, J. Black, R. Duralsamy, pp. 339-57 This•aper provides a review of various measurement techniques, and testing methods, conditions and specifications (TMCS) for determining performance of. a robot. First, the principles of operation, accuracy and rapeatabdlty of measurement systems, and any special features are summarized. Then, the TMCS pronged by the Robotic industries Association, the International Organization for Standardization, a Japanese standard testing proposal, and several individuals are reviewed, and future research needs ere identified. Keywords:Robotics, Melrolo~, Performance Measurements, 3-D Measurements
A KinematicApproachfor Coordinated Motion of a Robot and a Positioning Table, M. Jouaneh, D. Dornfeld, pp. 307-14 Tracking a path for such applications as welding using a coordinated motion scheme between a five axis robot and a two-dimensional table offers several advantages over the use of a single manipulator. Faster execution speed, ability to handle large workpieces, and improvements in tracking accuracy at sharp corners in the path can be achieved through such a scheme. This paper discusses a method for coordinating the motion of two such manipulators where the two s~?Alators are simultaneously moved to track a path at constant method for resolving the motion among the two manipulators based on kinematics is presented. Implementation of the scheme on an industrial manipulator and a positioning table is discussed. Actual results of tracking a path under different control scenarios are presented. Keywords: Coordinated Motion, Two Manipulators, Path Planning, Kinematic Approach
1989~ Vol. 8/No. 1 Automating Process Planning: Using Feature Interactions to Guide Search, C.-Hayes, P. Wright, pp. 1-16 Machinist is an expert system that automatically makes procuss plans for fabricating metal parts on a CNC machine tool. It is part of an overall effort to automate the job shop. The type ot parts that it handles are prismatic, with features cut into one or
Fault-Tolerant Heterarchieal Control of Heterogeneous Manufacturing System Entitles, N. Duffle, R. Chitturi, J. Mou, pp. 315-27
68