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2D CAD based robot programming for processing metal profiles in short series manufacturing
Topi Pulkkinen,Tapio Heikkila,Mikko Sallinen,Sauli Kivikunnas,Timo Salmi 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Fast robot programming is a requirement for efficient, flexible and reconfigurable short series manufacturing processes. This paper presents a model based robotprogramming concept for applications where metal profiles are processed byrobots and only a 2D geometrical representation of the workobject - or product billet - is available. The robot is programmed mainly through the 2D CAD drawing of the product billet by adding the process-related information such as bending- and cutting lines, angles and plate thickness. This enables the automatic extension of the model into 3D-space and calculating the sparse set of tool path tag points for the robot. The concept also considers the joint limits of the robot while interpolating the robot motions to full paths. This is achieved by dividing the complete path into segments and adjusting the product billet location and tag point configurations within the path. The segmentation of the path is done in an offline programming environment that also enables collision checking and path correctness verification. The concept is evaluated and tested in a simulation environment and in a real robot testing environment.
A Concept for Isles of Automation: Ubiquitous Robot Cell for Flexible Manufacturing
Mikko Sallinen,Tapio Heikkila,Timo Salmi,Sauli Kivikunnas,Topi Pulkkinen 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, we present a concept for short series production using industrial robots and advanced control systems. We call and define this system as “sles of automation” The concept is beyond the current robot workcells by the properties of flexibility, reconfigurability, context awareness and programmability. In the concept, there are modules defined for programming, sensing, material handling and flow as well as communication. The overall architecture defines how these modules are working together. In this paper, we present these modules and illustrate the operation in the pilot case.