Industrial Robot Programming

Klas Nilsson

Industrial Robot Programming

Forskningsoutput: Avhandling › Doktorsavhandling (monografi)

4173 Nedladdningar (Pure)

Sammanfattning

Popular Abstract in Swedish
En industrirobot är en flexibel programmerbar maskin som bör användas för sådant arbete som inte lämpar sig för människan att utföra. Olika tekniska begränsningar i dagens styrsystem begränsar dock robotars tillämpbarhet. Avhandlingen föreslår ett nytt sätt att bygga upp robotstyrsystem så att roboten på bästa sätt skall kunna tjäna människan.

Originalspråk	engelska
Kvalifikation	Doktor
Tilldelande institution	Institutionen för reglerteknik
Handledare	Åström, Karl Johan, handledare Johansson, Rolf, handledare
Tilldelningsdatum	1996 maj 29
Förlag	Department of Automatic Control, Lund Institute of Technology (LTH)
Status	Published - 1996

Bibliografisk information

Defence details

Date: 1996-05-29
Time: 10:15
Place: M-building M:B, LTH, Lund

External reviewer(s)

Name: Spong, Mark
Title: Prof.
Affiliation: University of Illinois at Urbana Champaign

---

Ämnesklassifikation (UKÄ)

Reglerteknik

Tillgång till dokument

TFRT-1046Publicerad version, 1,35 MB

Lund Research Programme in Autonomous Robotics, 1996-1997
Johansson, R.
1996/01/01 → 1997/12/31
Projekt: Forskning
Lund Research Programme in Autonomous Robotics, 1993-1995
Johansson, R.
1993/01/01 → 1995/12/31
Projekt: Forskning

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@phdthesis{dff172edd30547d3b707a91fb9938a71,

title = "Industrial Robot Programming",

abstract = "Industrial robots play a key role in manufacturing systems. Robots are distinguished from other types of machinery mainly on the basis of their programmability and ability to be adaptable to different tasks. The use of computer control to achieve desired flexibility implies that software issues for embedded control systems are central for the applicability and utilization of the equipment. The structure of control systems today, however, limits the applicability of robots, thus leaving many human unfriendly operations to be performed manually. This thesis takes a problem oriented approach, without enforcing use of formal methods. Considering industrial demands, such as computing efficiency and simple factory-floor operation, a layered system architecture and technical solutions to accomplish it are proposed. A notion of user views is introduced as the basis for definition of the layers; the layers support programming on levels ranging from implementation of motor control and up to end-user programming. An experimental platform, built around industrially available robots, has been developed. Specially developed hardware interfaces and reconfigurations of the original (ABB) system permits control and programming even of the low level motion control. Run-time efficiency within the proposed open and layered system was achieved by a new concept called actions. Actions are pieces of compiled code that, by use of certain compiling and linking techniques, can be passed as parameters between the layers. The required interplay between application specific programs and built-in motion control could therefore be accomplished. A number of case studies and results from ongoing experimental evaluation indicate that the proposed control system principles are very useful also in an industrial context.",

keywords = "control engineering, robotics, Automation, Software architecture., Embedded systems, Open systems, Robot control, Industrial robots, Robot programming, Automatiska system, robotteknik, reglerteknik",

author = "Klas Nilsson",

note = "Defence details Date: 1996-05-29 Time: 10:15 Place: M-building M:B, LTH, Lund External reviewer(s) Name: Spong, Mark Title: Prof. Affiliation: University of Illinois at Urbana Champaign ---",

year = "1996",

language = "English",

series = "PhD Thesis TFRT-1046",

publisher = "Department of Automatic Control, Lund Institute of Technology (LTH)",

school = "Department of Automatic Control",

}

TY - THES

T1 - Industrial Robot Programming

AU - Nilsson, Klas

N1 - Defence details Date: 1996-05-29 Time: 10:15 Place: M-building M:B, LTH, Lund External reviewer(s) Name: Spong, Mark Title: Prof. Affiliation: University of Illinois at Urbana Champaign ---

PY - 1996

Y1 - 1996

N2 - Industrial robots play a key role in manufacturing systems. Robots are distinguished from other types of machinery mainly on the basis of their programmability and ability to be adaptable to different tasks. The use of computer control to achieve desired flexibility implies that software issues for embedded control systems are central for the applicability and utilization of the equipment. The structure of control systems today, however, limits the applicability of robots, thus leaving many human unfriendly operations to be performed manually. This thesis takes a problem oriented approach, without enforcing use of formal methods. Considering industrial demands, such as computing efficiency and simple factory-floor operation, a layered system architecture and technical solutions to accomplish it are proposed. A notion of user views is introduced as the basis for definition of the layers; the layers support programming on levels ranging from implementation of motor control and up to end-user programming. An experimental platform, built around industrially available robots, has been developed. Specially developed hardware interfaces and reconfigurations of the original (ABB) system permits control and programming even of the low level motion control. Run-time efficiency within the proposed open and layered system was achieved by a new concept called actions. Actions are pieces of compiled code that, by use of certain compiling and linking techniques, can be passed as parameters between the layers. The required interplay between application specific programs and built-in motion control could therefore be accomplished. A number of case studies and results from ongoing experimental evaluation indicate that the proposed control system principles are very useful also in an industrial context.

AB - Industrial robots play a key role in manufacturing systems. Robots are distinguished from other types of machinery mainly on the basis of their programmability and ability to be adaptable to different tasks. The use of computer control to achieve desired flexibility implies that software issues for embedded control systems are central for the applicability and utilization of the equipment. The structure of control systems today, however, limits the applicability of robots, thus leaving many human unfriendly operations to be performed manually. This thesis takes a problem oriented approach, without enforcing use of formal methods. Considering industrial demands, such as computing efficiency and simple factory-floor operation, a layered system architecture and technical solutions to accomplish it are proposed. A notion of user views is introduced as the basis for definition of the layers; the layers support programming on levels ranging from implementation of motor control and up to end-user programming. An experimental platform, built around industrially available robots, has been developed. Specially developed hardware interfaces and reconfigurations of the original (ABB) system permits control and programming even of the low level motion control. Run-time efficiency within the proposed open and layered system was achieved by a new concept called actions. Actions are pieces of compiled code that, by use of certain compiling and linking techniques, can be passed as parameters between the layers. The required interplay between application specific programs and built-in motion control could therefore be accomplished. A number of case studies and results from ongoing experimental evaluation indicate that the proposed control system principles are very useful also in an industrial context.

KW - control engineering

KW - robotics

KW - Automation

KW - Software architecture.

KW - Embedded systems

KW - Open systems

KW - Robot control

KW - Industrial robots

KW - Robot programming

KW - Automatiska system

KW - robotteknik

KW - reglerteknik

M3 - Doctoral Thesis (monograph)

T3 - PhD Thesis TFRT-1046

PB - Department of Automatic Control, Lund Institute of Technology (LTH)

ER -

Industrial Robot Programming

Sammanfattning

Bibliografisk information

Ämnesklassifikation (UKÄ)

Tillgång till dokument

Fingeravtryck

Projekt

Lund Research Programme in Autonomous Robotics, 1996-1997

Lund Research Programme in Autonomous Robotics, 1993-1995

Citera det här