Intelligent robotic systems : design, planning, and control by Witold Jacak

By Witold Jacak

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1. Consider Example_Cell. To perform the technological tasks the following machines are grouped: NC-millers WHD 25 (d01) and FYD 30 (d03), NC-lathes TNS 26e (d02) and Weiler 16 (d04), a quality inspection center (d05), a feeder conveyor (m01), conveyor (m02), and an output conveyor (m03). The workcell is serviced by two IRb ASEA robots {r01, r02}. 1. 2. Geometrical Model of the Robotic Cell In the second phase of the modeling process the geometry of the virtual cell must be created. 1. Logical structure of a virtual cell.

Machining Task Specification In this section we focus on issues involved in the machining process. , depending on the required shape, dimensions, tolerance, and surface quality of the part. The basic components of the machining process are operations. An operation is a complete portion of the machining process for cutting, grinding, or otherwise treating a workpiece at a single workplace. The operation is characterized by unchanged equipment, unchanged workpiece, and continuity. Each operation is to be processed by a most one machine at a time.

This subaction is realized by a robot servicing the workstation d(i). The elementary robot actions can be expressed as basic macro-instructions. , the PICK-AND-PLACE instruction (Jacak and Rozenblit, 1992b). In this set of instructions, the action Transfer(oi–1, oi) is interpreted as the PICK-AND-PLACE part FROM x TO y macro, where x denotes the geometrical data of a workstation’s buffer (store), and y is the position and orientation 54 Chapter 4 of the buffer of the next workstation. 6: [ PICK-AND-PLACE part FROM x TO y :=] MOVE EMPTY TO x+v (x=position of buffer of machine d and v is approach vector) PICKUP AT x := [begin PICKUP] CENTER GRIPPER (grasp orientation of effector) OPEN GRIPPER MOVE EMPTY FROM x+v TO x WITH APPROACH = v CLOSE GRIPPER WAIT FOR contact signal with part MOVE HOLDING FROM x TO x+v WITH DEPARTURE = v [end PICKUP] MOVE HOLDING FROM x+v TO y+v (y=position of the next machine buffer) PLACE ON y [end PICK-AND-PLACE] The above sequence of instructions is used to synthesize automatically the robot’s motion program.

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