On Sensor-Controlled Robotized One-off Manufacturing

Forskningsoutput: AvhandlingDoktorsavhandling (monografi)

Standard

On Sensor-Controlled Robotized One-off Manufacturing. / Cederberg, Per.

Robotics, 2004. 123 s.

Forskningsoutput: AvhandlingDoktorsavhandling (monografi)

Harvard

Cederberg, P 2004, 'On Sensor-Controlled Robotized One-off Manufacturing', Doktor, Institutionen för elektro- och informationsteknik.

APA

CBE

Cederberg P. 2004. On Sensor-Controlled Robotized One-off Manufacturing. Robotics. 123 s.

MLA

Vancouver

Cederberg P. On Sensor-Controlled Robotized One-off Manufacturing. Robotics, 2004. 123 s.

Author

Cederberg, Per. / On Sensor-Controlled Robotized One-off Manufacturing. Robotics, 2004. 123 s.

RIS

TY - THES

T1 - On Sensor-Controlled Robotized One-off Manufacturing

AU - Cederberg, Per

N1 - 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)

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

KW - one-off manufacturing

KW - arc welding

KW - world model

KW - real-time

KW - task-oriented programming

KW - simulation

KW - control

KW - robotics

KW - sensor

KW - Automation

KW - control engineering

KW - Automatiska system

KW - robotteknik

KW - reglerteknik

M3 - Doctoral Thesis (monograph)

SN - 91-628-6289-8

PB - Robotics

ER -