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Industrial Robot Programming

Nilsson, Klas LU (1996) In PhD Theses TFRT-1046.
Abstract (Swedish)
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.
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... (More)
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 <i>user views</i> 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. (Less)
Please use this url to cite or link to this publication:
author
opponent
  • Prof. Spong, Mark, University of Illinois at Urbana Champaign
organization
publishing date
type
Thesis
publication status
published
subject
keywords
control engineering, robotics, Automation, Software architecture., Embedded systems, Open systems, Robot control, Industrial robots, Robot programming, Automatiska system, robotteknik, reglerteknik
in
PhD Theses
volume
TFRT-1046
pages
178 pages
publisher
Department of Automatic Control, Lund Institute of Technology (LTH)
defense location
M-building M:B, LTH, Lund
defense date
1996-05-29 10:15
ISSN
0280-5316
language
English
LU publication?
yes
id
dff172ed-d305-47d3-b707-a91fb9938a71 (old id 17695)
date added to LUP
2007-05-24 09:16:18
date last changed
2016-10-21 11:59:54
@phdthesis{dff172ed-d305-47d3-b707-a91fb9938a71,
  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.<br/><br>
<br/><br>
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 &lt;i&gt;user views&lt;/i&gt; 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.<br/><br>
<br/><br>
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.},
  author       = {Nilsson, Klas},
  issn         = {0280-5316},
  keyword      = {control engineering,robotics,Automation,Software architecture.,Embedded systems,Open systems,Robot control,Industrial robots,Robot programming,Automatiska system,robotteknik,reglerteknik},
  language     = {eng},
  pages        = {178},
  publisher    = {Department of Automatic Control, Lund Institute of Technology (LTH)},
  school       = {Lund University},
  series       = {PhD Theses},
  title        = {Industrial Robot Programming},
  volume       = {TFRT-1046},
  year         = {1996},
}