Off-line programming of industrial robots — Adaptation of simulated user programs to the real environment

Abstract

The requirement to increase productivity by reducing the standstill time of production equipment has reinforced the use of simulation within the robotics sector in recent years. Considerable deviations occur during the transfer of an off-line generated user program from a simulated to a real production cell. These deviations affect the certainty of planning and raise doubt as to the suitability of off-line programming for everyday industrial use. The following contribution deals with the causes and effects of simulation errors during the transfer of an off-line generated user program. It presents an application-oriented test method to measure simulation errors and a practice-oriented procedure to adapt a simulated manufacturing task to the real environment. Correction of the user program takes place in the off-line programmed nominal positions, in the orientations as well as in the angular configuration of the kinematic chain. The fundamental algorithms required, referring to the real application, are further explained and developed.