Off-line Programming Of Industrial Robots Research Articles

Off-line programming of robot on laser cleaning for large complex components

Laser cleaning path planning is great for significance to the cleaning effect of component surface. In view of the fact that the cleaning head must keep a fixed focal length with the workpiece surface and keep a vertical angle with the workpiece surface at all times in the laser cleaning process, this paper introduces the numerical model of large components into the general off-line programming software, and according to the relevant laser cleaning process and setting specific parameters in the software, obtains the automatically planned machine. The human trajectory program is introduced into the robot to realize the surface cleaning of large and complex components. Finally, according to the actual cleaning effect in the field, the laser focal length deviation is controlled within ± 2mm, and the application of off-line programming of industrial robots in complex surfaces is summarized and prospected.

Prediction and compensation of relative position error along industrial robot end-effector paths

In on-line and especially in off-line programming of industrial robots the attainable accuracy has to be taken into account. Especially in the case of off-line programming along particular trajectories followed, neglecting position errors leads to a need for kinematic calibration procedures which, however, apply to the robot controller level. If end effector error is taken into consideration in off-line programming a compensated commanded trajectory can be programmed. This is different to well-established calibration procedures, because it keeps the original kinematic model of the robot and tries to improve accuracy along the particular trajectory of interest. In this paper, the methodology for measuring, predicting and compensating end effector position errors is presented. A straight line trajectory is used as an example in connection to a particular industrial robotic arm. Measurements are taken using white-light metrology. Based on these measurements an error prediction model is constructed by training an Artificial Neural Network. A second neural network model is trained to yield joint coordinates that minimise position error, which is proved by employing the prediction model on the results of the compensation model.

Off-Line Programming of Industrial Robots Using Co-Located Environments

This paper presents a methodology and a prototype system for off-line programming of an industrial robot using augmented reality technology. The system allows to control a virtual model of the industrial robot co-located in the real environment, planning for collision-free paths, generate robot program and simulate the robot actions before the real robot perform the task. The advantage of this system is use of inexpensive equipment for intuitive off-line programming of an industrial robot.

Process Simulation and Paint Thickness Measurement for Robotic Spray Painting

A method and a computer program are developed for modeling of spray painting process, simulation of robotic spray painting, off-line programming of industrial robots and paint thickness measurement for painting of curved surfaces. The computer program enables the user to determine the painting strategies, parameters and paths. Surface models of the parts that are to be painted are obtained by using a CAD software. For paint thickness measurements, probe of the coating thickness measurement gage is attached to the wrist of the robot by using a feedback/safety adapter designed and manufactured for this purpose. Thicknesses are measured and transferred to the computer automatically. Then, obtained thickness data is processed and comparisons between simulated and measured thicknesses are made.

Process modeling, simulation, and paint thickness measurement for robotic spray painting

An algorithm and a computer program are developed for modeling of the spray painting process, simulation of robotic spray painting, and off-line programming of industrial robots for painting of curved surfaces. The computer program enables the user to determine the painting strategies, parameters, and paths which will give the desired paint thickness. Surface models of the parts that are to be painted are obtained by using a computer-assisted design (CAS) software. Models of relatively simple surfaces are formed by using the surface generation tools of the CAD software. For parts with more complex surfaces, point data related to the part is collected by using a laser scanner, and this data is used to form the CAD model of the part surface. The surface is then divided into small triangular elements and centroid coordinates, and unit normals of the elements are determined. Surface data together with the spray distance, painting velocity, and paint flow rate flux are used for simulation of the process and paint thickness analysis. Paint flow rate flux is determined experimentally by using different spray gun settings and painting parameters. During the experiments flat surfaces are painted by using a single painting stroke of the gun. Then, paint thickness measurements are made on the surfaces. It is observed that besides the technical specifications of the spray gun, air and paint nozzles, and paint needle, basic settings like paint tank pressure, spray air pressure, and gun needle-valve position affect paint cone angle and paint flow rate, which finally characterize the spray painting process. For that reason, settings and parameters should be changed and the painting process should be simulated until an acceptable paint thickness distribution is obtained for the part that is going to be painted. The robot program is then generated in the robot's programming language. Paint thickness distribution on the painted surface is determined by measuring the thicknesses using the robot and the CAD model of the part surface. The thicknesses are measured at the centroids of the surface elements. A measurement probe of the coating thickness measurement gauge is attached to the wrist of the robot by using a feedback/safety adapter designed and manufactured for this purpose. © 2000 John Wiley & Sons, Inc.

Process modeling, simulation, and paint thickness measurement for robotic spray painting

An algorithm and a computer program are developed for modeling of the spray painting process, simulation of robotic spray painting, and off-line programming of industrial robots for painting of curved surfaces. The computer program enables the user to determine the painting strategies, parameters, and paths which will give the desired paint thickness. Surface models of the parts that are to be painted are obtained by using a computer-assisted design (CAS) software. Models of relatively simple surfaces are formed by using the surface generation tools of the CAD software. For parts with more complex surfaces, point data related to the part is collected by using a laser scanner, and this data is used to form the CAD model of the part surface. The surface is then divided into small triangular elements and centroid coordinates, and unit normals of the elements are determined. Surface data together with the spray distance, painting velocity, and paint flow rate flux are used for simulation of the process and paint thickness analysis. Paint flow rate flux is determined experimentally by using different spray gun settings and painting parameters. During the experiments flat surfaces are painted by using a single painting stroke of the gun. Then, paint thickness measurements are made on the surfaces. It is observed that besides the technical specifications of the spray gun, air and paint nozzles, and paint needle, basic settings like paint tank pressure, spray air pressure, and gun needle-valve position affect paint cone angle and paint flow rate, which finally characterize the spray painting process. For that reason, settings and parameters should be changed and the painting process should be simulated until an acceptable paint thickness distribution is obtained for the part that is going to be painted. The robot program is then generated in the robot's programming language. Paint thickness distribution on the painted surface is determined by measuring the thicknesses using the robot and the CAD model of the part surface. The thicknesses are measured at the centroids of the surface elements. A measurement probe of the coating thickness measurement gauge is attached to the wrist of the robot by using a feedback/safety adapter designed and manufactured for this purpose. © 2000 John Wiley & Sons, Inc.

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

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.

Evaluation and Testing of Robots

The ongoing evolution toward off-line programming of industrial robots together with ever increasing absolute positioning accuracy requirements call for methods to calibrate the robots and their environment.In this paper, first an analysis of the error sources affecting robot accuracy and of the performance criteria is made. Standardisation efforts are described and compared. An overview is given of relevant measuring tools and methods to measure pose and path characteristics. Finally, robot and environment calibration methods are discussed to complete the study.

Requirements for Advanced Graphic Robot Programming Systems

In recent years, several off-line programming and simulation systems have been developed to assist in the planning of new robot applications. Most off-line programming systems allow the user to set up the geometric layout of a work cell. However, in general, only a subset of robot commands is supported by the simulation systems. The Institut für Werkzeugmaschinen und Betriebswissenschaften (iwb) of the Technische Universität München has developed a simulation system, USIS (Universal Simulation System) for task planning and off-line programming of industrial robots. The system allows for the setting up of a “logic layout “of a work cell and supports most common robot programming statements. This paper discusses the requirements for advanced graphic robot programming systems and presents an approach to this problem while describing some features of USIS.

Knowledge Based Off-Line Programming of Industrial Robots

The paper presents a concept and a first realization of a knowledge based off-line programming system. The design is based on an already developed system which was also applied for relevant production tasks. A characteristic feature of the system is a production task specific, dialog oriented user interface. For a flexible realization of the user interface knowledge based approaches have been applied. A concept for a first realization is presented.

Use of CAD-data for the off-line programming of industrial robots

Important components of IR-application programs are geometric data which are partly available from CAD-systems. In this paper the derivation and transformation of CAD-data into the required representation of IR-application programs is discussed. For the description of the geometric part of the robots task a frame concept with homogeneous coordinates is used. For the production task spot welding the determination of frames out of the geometric data from the CAD-system is shown in detail. Furthermore, the use of CAD-data for simulation purposes is pointed out.

Off-line programming of industrial robots

Off-line programming of industrial robots

Off-Line Programming of Numerically Controlled Industrial Robots Using the ROBEX-Programming-Systems

This presentation deals with the development of a new off-line programming system for industrial robots. Especially when using industrial robots in flexible manufacturing cells for medium and small batch production the frequent reprogramming of robots on-line, e. g. TEACH-IN, could increase the idle-time of the whole system to an unacceptable amount. Here, the extensive off-line programming of industrial robots in the process planning department, as it is done with NC-machine tools, would be an adequate solution. For these purposes the programming system ROBEX has been designed. Its structure resembles the well-known APT- EXAPT System, thus it is independent of the type of robot and the type of computer. In this paper the main features of ROBEX are described including its applicability to several different fields and to the generation of world models.