Jochen Maaß, Sven Molkenstruck, Ulrike Thomas, Jürgen Hesselbach and Friedrich Wahl
This paper aims to introduce a generic robot‐programming paradigm for assembly tasks that overcomes the strong coupling between the motion commands and underlying algorithms of…
Abstract
Purpose
This paper aims to introduce a generic robot‐programming paradigm for assembly tasks that overcomes the strong coupling between the motion commands and underlying algorithms of programming languages currently on the market. Therefore, it allows an improved method of assembly task programming.
Design/methodology/approach
A manipulation primitive (MP) is defined which decouples the programming concept from the algorithms. These primitives can be integrated into existing programming languages and are supported by an intuitive graph‐based language which is introduced in this paper. An open reference architecture to support those primitive‐based programming languages has been designed.
Findings
It is possible to describe complex assembly tasks such as manipulation on conveyors or sensor‐integrated compliant motion without abandoning the generality of the programming paradigm. Execution on a reference control system has proven to be successful for several manipulation tasks on different machines.
Originality/value
A complete definition of the MP and a graphical language based on this primitive is given, accompanied by extensive detail information on crucial aspects of the control architecture such as modular trajectory generation, generic interfaces, and real‐time task scheduling.
Details
Keywords
Mathias Krefft, Philipp Last, Christoph Budde, Jochen Maass, Jürgen Hesselbach and Friedrich M. Wahl
This paper seeks to establish parallel robots with strong performance characteristics in handling and assembly processes.
Abstract
Purpose
This paper seeks to establish parallel robots with strong performance characteristics in handling and assembly processes.
Design/methodology/approach
The presented work introduces concepts and solutions related to the improvement of parallel kinematic mechanisms. Structural design topics and modeling approaches are as well considered as control schemes and new machine components particularly designed for high‐dynamic parallel robots. The results have been achieved by a unique interdisciplinary research group linking knowledge from mechanical engineering, electrical engineering and computer science.
Findings
The paper found numerous individually applicable methods leading to an improved efficiency of parallel robots. Several of the developments have been already implemented and validated by various self‐built machine prototypes and a new control system.
Originality/value
Owing to higher stiffness, accuracy and improved dynamic behavior parallel robots proved to be an efficient and suitable supplement to serial robots. By means of the various developments contributed in this paper, the promising potential of this class of robots is once more emphasized and further strengthened.