Interoperability of Standards for Robotics in Cime

ISBN-13: 9783540618843 / Angielski / Miękka / 1996 / 140 str.

F. Mikosch; Falk Mikosch

Opis

This Esprit volume reports on a project for closing the information chain between product design, simulation, programming, and robot control by developing and implementing standardized interfaces.

Spis treści

1 Introduction.- 2 Rational and Baseline of the Interrob Project.- 3 The STEP Based InterRob Interface for Product Definition Data.- 3.1 Identification of Topical Areas for Data Exchange.- 3.2 The InterRob Application Protocol.- 4 Implementation of STEP Interfaces in InterRob.- 4.1 Data Exchange Between Commercial Systems using Physical Files.- 4.1.1 CATIA.- 4.1.2 ROPSIM.- 4.1.3 GRASP.- 4.1.4 KISMET.- 4.1.5 BRAVO/ROBOT.- 4.1.6 ADAMS.- 4.1.7 The STEP Processors for KISMET, BRAVO/ROBOT and ADAMS.- 4.2 Capability of the STEP Processors for KISMET, BRAVO and ADAMS.- 4.3 Data Exchange and Storage by Object Oriented Databases.- 4.3.1 Object-Oriented Databases.- 4.3.2 ObjectStore.- 4.3.3 STEP Programmer’s Toolkit.- 4.3.4 InterRob Application.- 4.3.5 The Equipment database.- 4.3.6 Interfaces for Object-Oriented databases.- 5 Aspects of Model Fidelity.- 5.1 Motivation.- 5.2 Error compensation of robots.- 5.3 Spline Interpolation.- 5.3.1 Introduction.- 5.3.2 Rational motions.- 5.3.3 Construction of spline segment.- 6 Industrial Applications and Demonstrations of InterRob Results.- 6.1 The Plasma Spraying Application at Rolls-Royce.- 6.1.1 Introduction.- 6.1.2 Overview of Application.- 6.1.3 Description of the Demonstration.- 6.1.4 Results and Experiences.- 6.1.5 Future application and results.- 6.2 The Pipe Welding Application at Odense Steel Shipyard.- 6.2.1 Introduction.- 6.2.2 The Application.- 6.2.3 The Reis 6 Axis Robot with a Turn/Tilt Table.- 6.2.4 The GRASP Simulation System.- 6.2.5 The Laser Scanner.- 6.2.6 The InterRob Database.- 6.2.7 Description of the Demonstration.- 6.2.8 Benefits and Commercial Impact of Results.- 6.2.9 Future Application of Results.- 7 Contributions to Standardisation Activities.- 7.1 InterRob and the STEP Standardisation Work.- 7.1.1 The STEP Kinematics Model.- 7.1.2 Physical File Structure.- 7.1.3 STEP Data Access Interface.- 7.1.4 STEP Applications of Surface Modelling.- 7.1.5 The InterRob Specification.- 7.2 InterRob and the IRL Standardisation Work.- 8 InterRob Project Results and Exploitation Plans.- 8.1 General.- 8.2 BYG Ltd.- 8.3 DTU.- 8.4 Forschungszentrum Karlsruhe.- 8.5 Odense Steel Shipyard (OSS).- 8.6 Reis Robotics.- 8.7 Rolls-Royce plc.- 8.8 SINTEF Informatics.- Annexes.- Annex 1 Poposed Extensions to STEP: Selected Parts of the InterRob Application Protocol.- Annex 2 STEP Processors Developed in InterRob.- Annex 3 Simulation of Robot Kinetics and Control.- Annex 4 IRL Processors developed in InterRob.- Annex 5 Examples of STEP Exchange Files in InterRob.- Annex 6 Examples of IRL Exchange Files in InterRob.- References.

Blurb

This Esprit volume reports on the InterRob project to close the information chain between product design, simulation, programming, and robot control. Esprit Project 6457 "Interoperability of Standards for Robotics in CIME" (InterRob) had as its first goal the development of standardized interfaces and their software implementation for ISO 10303 STEP and DIN 66312 IRL. This continued previous Esprit projects CAD*I and NIRO. The InterRob approach is based on standardized models for product geometry, kinematics, robotics, dynamics, and control, hence on a coherent neutral information model of the process chain from design to manufacturing. The second main goal was to increase the accuracy of off-line programmed robots. The results were demonstrated in industrial applications.