On Sensor-Controlled Robotized One-off Manufacturing

Research output: ThesisDoctoral Thesis (monograph)


A semi-automatic task oriented system structure has been developed and tested on an arc welding application. In normal industrial robot programming, the path is created and the process is based upon the decided path. Here a process-oriented method is proposed instead. It is natural to focus on the process, since the path is in reality a result of process needs. Another benefit of choosing process focus, is that it automatically leads us into task oriented thoughts, which in turn can be split in sub-tasks, one for each part of the process with similar process-characteristics. By carefully choosing and encapsulating the information needed to execute a sub-task, this component can be re-used whenever the actual subtask occurs.

By using virtual sensors and generic interfaces to robots and sensors, applications built upon the system design do not change between simulation and actual shop floor runs. The system allows a mix of real- and simulated components during simulation and run-time.


  • Per Cederberg
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Robotics


  • one-off manufacturing, arc welding, world model, real-time, task-oriented programming, simulation, control, robotics, sensor, Automation, control engineering, Automatiska system, robotteknik, reglerteknik
Original languageEnglish
Awarding Institution
Supervisors/Assistant supervisor
  • [unknown], [unknown], Supervisor, External person
Award date2004 Dec 8
  • Robotics
Print ISBNs91-628-6289-8
Publication statusPublished - 2004
Publication categoryResearch

Bibliographic note

Defence details Date: 2004-12-08 Time: 10:15 Place: Maskinteknik, Sal M:E, Lund Institute of Technology External reviewer(s) Name: Lennartson, Bengt Title: Prof. Affiliation: Chalmers, Gothenburg, Sweden --- The information about affiliations in this record was updated in December 2015. The record was previously connected to the following departments: Robotics (ceased) (LUR000026)

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