Neutral Interfaces in Design, Simulation, and Programming for Robotics

ISBN-13: 9783540575313 / Angielski / Miękka / 1994 / 334 str.

Ingward Bey; D. Ball; H. Bruhm

Opis

This volume summarizes the results of a three-year project on the specification, implementation, testing and application of standardized interface processors for product data exchange between different systems in the design, planning and manufacturing of mechanical products.

Spis treści

1. Introduction.- 1.1 The Need for Standardized Interfaces for Electronic Data Transfer.- 1.2 Short Summary of Interface Development.- 1.3 ESPRIT Project Nr. 2614/5109 NIRO.- 2. State of the Art upon Project Start.- 2.1 CAD Interfaces.- 2.2 Interfaces in Robotics.- 2.2.1 Robot Programming.- 2.3 Standardization.- 3. Aims of the NIRO Project.- 4. Results Related to the STEP Standard Chapter Editor: EG. Schlechtendahl.- 4.1 The NIRO Contributions to STEP.- 4.1.1The STEP Kinematics Model.- 4.1.2 Physical File Structure.- 4.1.3 STEP Data Access Interface.- 4.1.4 Specification.- 4.2 The NIRO Specification for STEP Kinematics Models.- 5. Development of STEP Processors.- 5.1 From CAD Systems to STEP.- 5.1.1 GRASP.- 5.1.2 BRAVO3.- 5.1.3 CADDS 5.- 5.1.4 CATIA (Kinematics).- 5.1.5 KISMET.- 5.2 From STEP to Robot Programming and Simulation.- 5.2.1 GRASP.- 5.2.2 CATIA Robotics.- 5.2.3 KISMET.- 5.2.4 Scanner/Parser for CATIA and KISMET.- 5.3 Test of Processors and Consistency of the Specification.- 5.3.1 Test Suites, Library of Test Models.- 5.3.2 Evaluation of Test Results. Experiences.- 6. Results Related to IRL and ICR.- 6.1 Industrial Robot Language (IRL).- 6.1.1 Present Status.- 6.1.2 The Language Features.- 6.1.3 General Purpose Language Features.- 6.1.4 Robot Specific Features.- 6.1.5 Recommendations for Further Enhancements.- 6.1.6 NIRO Contributions to IRL.- 6.1.7 Contextfree Grammar of IRL.- 6.2 Intermediate Code for Robots (ICR).- 6.2.1 Introduction to ICR.- 6.2.2 Technical Aspects of ICR.- 6.2.3 NIRO Contributions to ICR.- 6.2.4 Experiences with ICR.- 6.2.5 Present Status.- 6.2.6 Recommendations for Further Enhancements.- 7. Development of Processors for IRL and ICR.- 7.1 Processors for IRL.- 7.1.1 IRL Preprocessor for GRASP.- 7.1.2 BRL to ICR Compiler.- 7.2 Preprocessors for ICR.- 7.2.1 ICR Preprocessor for GRASP.- 7.3 ICR Interpreters.- 7.3.1 Overview.- 7.3.2 Robot Independent Part.- 7.3.3 Robot Dependent Part for the KISMET Simulation System.- 7.3.4 Robot Dependent Part for the ABB IRB 2000 Robot.- 7.3.5 The Robot Dependent Part for the ABB IRB 60 Robot.- 7.3.6 Robot Dependent Part for Reis ROBOTstar-IV.- 7.4 ICR Transformation to Robot Vendor Code.- 7.4.1 Overview.- 7.4.2 ICR Transformation to the Hirobo Robot.- 7.4.3 ICR Transformation to PDL2 (the Comau Robot ).- 7.4.4 ICR Transformation to Reis Robot Language.- 7.5 Test of Processors.- 8. Application of Developments and Results.- 8.1 The Rationale.- 8.2 The Demonstration at CASA/DISEL.- 8.2.1 Criteria for Task Selection.- 8.2.2 Task Description.- 8.2.3 Information Flow Structure.- 8.2.4 Implementation Details.- 8.2.5 Results.- 8.3 The FIAT Demonstration. Experiences Gained.- 8.4 Demonstration at Odense Steel Shipyard.- 8.4.1 Criteria for Task Selection.- 8.4.2 Task Description.- 8.4.3 Information Flow Structure.- 8.4.4 Implementation.- 8.4.5 Experiences and Recommendations.- 8.5 The Reis Demonstration.- 8.5.1 Criteria for Task Selection.- 8.5.2 Task Description.- 8.5.3 Information Flow Structure.- 8.5.4 Implementation Details.- 8.5.5 Results.- 8.6 Other Applications Outside the NIRO Project.- 8.6.1 Introduction.- 8.6.2. Architecture and Information Flow.- 8.6.3 Models.- 8.6.4 Modules.- 8.6.5 The Ropsim Model Interface.- 8.6.6 Example.- 8.6.7 Conclusion.- Acknowledgement.- 9. Conclusions of the Project.- 9.1 Interface Between CAD, Robot Programming and Simulation Systems.- 9.1.1 General.- 9.1.2 Contributions to STEP standard.- 9.2 Interface Between Robot Off&-Line Programming and Control Systems.- 10. Outlook.- References.- Appendix 1: Specification for Kinematics and Robotics CAD Data Exchange.- Appendix 2: Example IRL Output for GRASP Preprocessor.- Appendix 3: Example ICR Output for GRASP Preprocessor.- Appendix 4: Test Example: Movement File and Related ICR Code File.