Title :
An outline of a modular and multiarm assembly cell with object-oriented control
Author :
Alander, Jarmo T. ; Frisk, Matti ; Tuominen, Juho ; Vuolteenaho, Merja
Author_Institution :
Dept. of Comput. Sci., Helsinki Univ. of Technol., Espoo, Finland
Abstract :
A novel modular, multipurpose, and multiarm (M3) assembly robot cell type with high-level object-oriented control is presented. The M3 assembly cell is based on a modified orthogonal linear structure. The highest control levels are planned to be based on an object-oriented database by which product model, sensor data, and control programs are represented. The idea of the control scheme is to use past sensor information to fine-tune or adapt the cell to slightly changing situations or to detect and recover from errors. The controller is implemented on a PC network so that part of the control algorithms can be distributed
Keywords :
assembling; factory automation; industrial robots; object-oriented databases; control programs; factory automation; industrial robots; modular multipurpose assembly cell; object-oriented database; orthogonal linear structure; product model; robotic multiarm assembly cell; sensor data; Automatic control; Collision avoidance; Control systems; Intelligent robots; Manufacturing; Motion control; Robot sensing systems; Robot vision systems; Robotic assembly; Robotics and automation;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149208
