A semiautomatic task-oriented programming system for sensor-controlled robotised small-batch and one-off manufacturing

  • Authors:

  • Per Cederberg;Magnus Olsson;Gunnar Bolmsjö

  • Affiliations:

  • Div. of Robotics, Lund University, P.O. Box 118, SE-221 00 Lund (SWEDEN) E-mail: pcederberg@robotics.lu.se, molsson@robotics.lu.se, gbolmsjo@robotics.lu.se;Div. of Robotics, Lund University, P.O. Box 118, SE-221 00 Lund (SWEDEN) E-mail: pcederberg@robotics.lu.se, molsson@robotics.lu.se, gbolmsjo@robotics.lu.se;Div. of Robotics, Lund University, P.O. Box 118, SE-221 00 Lund (SWEDEN) E-mail: pcederberg@robotics.lu.se, molsson@robotics.lu.se, gbolmsjo@robotics.lu.se

  • Venue:
  • Robotica
  • Year:
  • 2005

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Abstract

A task-oriented system structure has been developed. In normal industrial robot programming, the path is created and the process is based on the path. Here a process-focused method is proposed, where a task can be split in sub-tasks, one for each part of the process with similar process-characteristics. By carefully encapsulating the information needed to execute a sub-task, this component can be re-used whenever the actual sub-task occurs. Applications using system design do not change between simulation and actual shop floor runs and the system allows a mix of real- and simulated components during simulation and run-time.