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Operational Control for Robot System Integration into CIM

Objective

The objective of this project was to specify and build prototype systems to demonstrate the integration of robots into CIM systems. The critical path of this integration concerns the operational level of CIM systems and includes two closely interrelated fields of research: the design of a computer-aided layout planning system and the design of an off-line programming system for robots integrated into CIM systems.
The project has three strands of work:
-development of an explicit programming system for robot control which is integrated with work-cell architecture
-development of a knowledge-based implicit programming system
-development of a planning system for robotised cells.
Work in the three areas has proceeded simultaneously. In all cases, definition and specification of software modules has been followed by their development, application and demonstration in real or simulated industrial environments.
The work includes:
study of the information system in shoe making factories;
transfer of computer aided design (CAD) technologies to the industry;
increasing the knowledge of 3-dimensional computer graphics;
creating a 3-dimensional kernel to be used as the basis of a computer integrated environment.

The objective of this project was to specify and build prototype systems to demonstrate the integration of robots into computer integrated manufacture (CIM) systems. The critical path of this integration concerns the operational level of CIM systems and includes 2 closely interrelated fields of research, the design of a computer aided layout planning system and the design of an offline programming system for robots integrated into CIM systems.
The project has 3 strands of work: the development of an explicit programming system for robot control which is integrated with work cell architecture, the development of a knowledge based implicit programming system and the development of a planning system for robotised cells. Design rules for the integration of robots into CIM were defined and published. An integrated planning and explicit offline programming system was demonstrated on October 1988. A task level programming system was demonstrated in April 1989. A high level interpreter was demonstrated in April 1989 and a planning and interactiveprogramming system was demonstrated in October 1989.
The main objective for realizing demonstrator systems by integrating modules of different partners was to show the increased functionality and efficiency of an integrated planning and programming procedure. The integration is achieved primarily through information exchange and management, performed via a relational database.
Finally it can be stated that all planning and programming means are to be integral parts of the CIM system. This requires a standardization of their interfaces to ensure their cooperation via an adequate information system. Therefore project partners are also involved in different national and international standardization activities.
Design rules for the integration of robots into CIM were defined and published. In April 1988 the following project groups for realising demonstrator systems were installed in order to integrate realised components and subsystems developed in the area of Systems Planning, Explicit and Implicit programming:
-integrated planning and Explicit Off-Line Programming System (demonstrated in October 1988).
-task Level Programming System (demonstrated in April 1989)
-high Level Interpreter (demonstrated in April 1989)
-planning and Interactive Programming System (demonstrated in October 1989).
Exploitation
The main objective for realising demonstrator systems by integrating modules of different partners was to show the increased functionality and efficiency of an integrated planning and programming procedure.
For the realisation different principles like automatic or interactive planning functions and explicit or implicit programming procedures are considered. The integration is achieved primarily through information exchange and management, performed via a relational database. Additionally realistic industrial applications or well-known benchmark tests have been selected which have to cover a broad spectrum of problems and show their solution. The realised systems or - depending on the production task - parts of them are also used by the project partners for a variety of industrial projects.
The advantages gained by the developed and industrially applied systems can be summarised as follows:
-costs for design, optimisation programming and workshop tests are significantly reduced.
-at a very early stage in a project, highly accurate information is available which leads to getting a manufacturing system into operation more quickly.
-several alternative solutions can be analysed and compared which results in an improvement of the quality of the solutions.
Finally it can be stated that all planning and programming means are to be integral parts of the CIM system. This requires a standardisation of their interfaces to ensure their co-operation via an adequate information system. Therefore project partners are also involved in different national and international standardisation activities.
In March 1990 a workshop was held to present the project results and benefits to persons from the technical and research management from companies, universities and administrations. The different demonstrations/presentations and the great interest shown by the audience clearly showed the industrial relevance of the work done and the scientific/technical value.

Coordinator

Fraunhofer-Gesellschaft zur Förderung der Angewandten Forschung eV (FhG)
Address
Pascalstraße 8-9
10587 Berlin
Germany

Participants (12)

Consiglio Nazionale delle Ricerche (CNR)
Italy
Address
Corso Stati Uniti 4
35020 Padova
Fabbrica Italiana Apparecchiature Radioelettriche SpA
Italy
Address
I Maggio 41
20021 Milano
KUKA Schweißanlagen und Roboter GmbH
Germany
Address
Blücherstraße 144
86165 Augsburg
PSI Gesellschaft für Prozeßsteuerungs- und Informationssysteme mbH
Germany
Address
Kurfürstendamm 67
10707 Berlin
Politecnico di Milano
Italy
Address
Piazza Leonardo Da Vinci 32
20133 Milano
RENAULT AUTOMATION
France
Address
Centre Commercial Parly Ii
78152 Le Chesnay
UNIV COLLEGE GALWAY
Ireland
Address
University Road
X Galway
UNIV NOVA DE LISBOA
Portugal
Address
Quinta Da Torre
2825 Caparica
UNIV POLITECNICA DE MADRID
Spain
Address
C/j.gutierrez Abascal
28006 Madrid
UNIV VAN AMSTERDAM
Netherlands
Address
Roetersstraat
1018 Amsterdam
Universität Fridericana Karlsruhe (Technische Hochschule)
Germany
Address
Kaiserstraße 12
76128 Karlsruhe
Université de Valenciennes et du Hainaut-Cambrésis
France
Address
Le Mont Houy
59304 Valenciennes