DocumentCode :
2116238
Title :
A system for automatic planning, evaluation and execution of assembly sequences for industrial robots
Author :
Thomas, U. ; Wahl, F.M.
Author_Institution :
Inst. of Robotics & Process Control, Tech. Univ. of Braunschweig, Germany
Volume :
3
fYear :
2001
fDate :
2001
Firstpage :
1458
Abstract :
This paper describes a new system to automatically generate, evaluate and execute assembly sequences, With the commands generated by the system, robots are enabled to assemble complex products without explicit robot programming. Our approach uses CAD-models, symbolic spatial relations and a robot work cell description as input. The system provides a user-friendly interface to define the goal state of the parts to be assembled. The automatically generated and decomposed assembly plans can be executed by robots by means of a set of predefined skill primitives. For this purpose we classify the robot tasks by analyzing the symbolic spatial relations between the objects to be assembled, the depart-spaces and the necessary tools. The tasks are decomposed into suitable elementary robot operations, the skills, automatically. For guiding the robot during assembly we employ internal and external sensors
Keywords :
CAD/CAM; assembly planning; computer aided production planning; industrial robots; symbol manipulation; user interfaces; CAD-models; assembly sequence automatic evaluation; assembly sequence automatic execution; assembly sequence automatic planning; depart-spaces; external sensors; industrial robots; internal sensors; robot work cell description; skill primitives; symbolic spatial relations; user-friendly interface; Assembly systems; Electrical equipment industry; Fasteners; Industrial control; Manufacturing automation; Process planning; Robot sensing systems; Robotic assembly; Robotics and automation; Service robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
Type :
conf
DOI :
10.1109/IROS.2001.977186
Filename :
977186
Link To Document :
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