Optimization Techniques with FORTRAN

Although an automated flexible production cell is an intriguing prospect for small to median enterprises (SMEs) in current global market conditions, the complexity of programming remains one of the major hurdles preventing automation using industrial robots for SMEs. This paper provides a comprehensive review of the recent research progresses on the programming methods for industrial robots, including online programming, offline programming (OLP), and programming using Augmented Reality (AR). With the development of more powerful 3D CAD/PLM software, computer vision, sensor technology, etc. new programming methods suitable for SMEs are expected to grow in years to come.

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Review: Recent progress on programming methods for industrial robots

Due to a general shift in manufacturing paradigm from mass production towards mass customization, reconfigurable automation technologies, such as robots, are required. However, current industrial robot solutions are notoriously difficult to program, leading to high changeover times when new products are introduced by manufacturers. In order to compete on global markets, the factories of tomorrow need complete production lines, including automation technologies that can effortlessly be reconfigured or repurposed, when the need arises. In this paper we present the concept of general, self-asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated to program the robots to perform a variety of tasks, through the use of simple task-level programming methods. We demonstrate various approaches to this, extensively tested with several people inexperienced in robotics. We validate our findings through several deployments of the complete robot system in running production facilities at an industrial partner. It follows from these experiments that the use of robot skills, and associated task-level programming framework, is a viable solution to introducing robots that can intuitively and on the fly be programmed to perform new tasks by factory workers. HighlightsWe propose a conceptual model of robot skills and show how this differs from macros.We show how this approach can enable non-experts to utilize advanced robotic systems.Concrete industrial applications of the approach are presented, on advanced robot systems.

Robot skills for manufacturing

Nanoindentation: Measuring methods and applications

This paper gives a bibliographical review of the finite element methods applied to the analysis and simulation of welding processes The bibliography is an addendum to the finite element analysis and simulation of welding: a bibliography (1976–96) published in Modelling Simul Mater Sci Eng (1996) 4 501–33 The added bibliography at the end of this paper contains approximately 550 references to papers and conference proceedings on the subject that were published in 1996–2001 These are classified in the following categories: modelling of welding processes in general; modelling of specific welding processes; influence of geometrical parameters; heat transfer and fluid flow in welds; residual stresses and deformations in welds; fracture mechanics and welding; fatigue of welded structures; destructive and non-destructive evaluation of weldments and cracks; welded tubular joints, pipes and pressure vessels/components; welds in plates and other structures/components

Finite element analysis and simulation of machining: an addendum: A bibliography (1996–2002)

A procedure for the automatic generation of the robot programming used in manufacturing operations is introduced in the present paper. The off-line programming system developed here includes graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning and creation of the NC code for manufacturing process. The proposed system is applied in a robot with five revolute joints for manufacturing operations and in a robot with six revolute joints for welding operations.

Off-line programming of an industrial robot for manufacturing

The performance of a robot manipulator during a process depends on its position relative to the corresponding path. An ill-placed manipulator risks inefficient operation as well as blocks due to singularities. The paper deals with an optimization algorithm to determine the base position and the joint angles of a spatial robot, when the end-effector poses are prescribed, avoiding the singular configurations. The optimization problem is solved through a hybrid heuristic method that combines the advantages of a genetic algorithm, a quasi-Newton algorithm and a constraints handling method. Six cases of a 6-DOF manipulator are studied to verify the feasibility of the proposed algorithm.

S. Mitsi

Papers

Off-line programming of an industrial robot for manufacturing

Determination of optimum robot base location considering discrete end-effector positions by means of hybrid genetic algorithm

Position analysis in polynomial form of planar mechanisms with Assur groups of class 3 including revolute and prismatic joints

Position analysis in polynomial form of planar mechanism with an Assur group of class 4 including one prismatic joint

Optimization of robot links motion in inverse kinematics solution considering collision avoidance and joint limits