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

fYear

1990

Firstpage

592

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE

Conference_Location

Pacific Grove, CA

Print_ISBN

0-87942-600-4

Type

conf

DOI

10.1109/IECON.1990.149208

Filename

149208