SIMPLIFIED PROGRAMMING OF ROBOT ASSEMBLY CELLS BY USING MOTION ORIENTED ELEMENTS

摘要

Industrial robots are of high importance for assembly processes. Besides robots, peripheral devices like grippers and sensors have to be considered as well. The programming methods used so far have often confronted less experienced users with problems. Hence, in this article a concept is being developed which allows a simplified programming of assembly tasks by visually describing processes. In this concept, static and dynamic aspects are differentiated. In the forefront, the features of devices and sensors are modelled. These static aspects are made applicable to specific applications by using parameters. Dynamic aspects describe the real progress which is visible for the user by the program elements motions and interaction scopes. The parameterisable features and attributes are then allocated to the motion oriented representation as actions. Another aspect of this concept is the integration of a disturbance management system which is able to identify disturbances during the process of an assembly process and to set a routine to rectify the fault. This concept has been implemented prototypically and evaluated with the help of programming a demonstration process.