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Advanced Robotics Manipulation System

Objective

The objective of ARMS is to specify and develop a prototype robotic system capable of performing complex tasks.
The objective of the advanced robotics manipulation system (ARMS) is to specify and develop a prototype robotic system capable of performing complex tasks.
The goal for the manipulator area is to develop a new robot with increased speed and accuracy. This shall be performed with the aid of new design methods (for example lightweight concepts), with new calculation methods and new simulation methods. Furthermore, the integration of direct drives will lead to less backlash, more stiffness and more speed.
The specified robot controller prototype developed in the scope of the project will perform the standard functionalities of existing robot controllers and will integrate innovative aspects such as: multiprocessors, multitasking architecture, the use of sensors (force and proximity) to generate compliant motions using a powerful sensor interface fieldnet, a robot language associated with a sequential function chart for the whole description of the workcell, offline programming of the robot movements using a common language (with the offline system and dedicated tools for the calibration of the robot and its workcell), an open architecture which will enable an advanced user to implement his own control design with respect to the task carried out.
The simulation and offline programming system encompasses advanced functions such as assembly plan generation, collision free trajectories generation, sensor simulation and logical line and cell design. The development will be targeted at several applications in the automotive and domestic appliance industries. The domestic product application will involve imprecise geometry, cooperation of multiple robots, and manipulation of pliable parts (electric cables, rubber hoses, etc).
Major developments are planned in the following work-areas:

Manipulator

The goal for the manipulator area is to develop a new robot with increased speed and accuracy. This shall be performed with the aid of new design methods, for example lightweight concepts, with new calculation methods and new simulation methods. Furthermore, the integration of direct drives will lead to less backlash, more stiffness and more speed.

Controller

The specified robot controller prototype developed in the scope of the project will perform the standard functionalities of existing robot controllers and will integrate innovative aspects such as: multiprocessors; multitasking architecture; the use of sensors (force and proximity) to generate compliant motions using a powerful sensor interface fieldnet; a robot language associated with a sequential function chart for the whole description of the workcell; off-line programming of the robot movements using a common language (with the off-line system and dedicated tools for the calibration of the robot and its workcell); an open architecture which will enable an advanced user to implement his own control design with respect to the task carried out.

Simulation and off-line programming

The simulation and off-line programming system encompasses advanced functions such as assembly plan generation, collision free trajectories generation, sensor simulation, and logical line and cell design.

Exploitation

The development will be targeted at several applications in the automotive and domestic appliance industries, namely:

- automotive subcomponent assembly (doors, dashboards, front-ends)
- assembly of these components into vehicles
- washing machine, refrigerator and cooker assembly.

The domestic product application will involve imprecise geometry, cooperation of multiple robots, and manipulation of pliable parts (electric cables, rubber hoses, etc).

The results of the project will be exploited by the consortium for assembly operations. The products developed within this project will be commercialised directly by the industrial partners.

Coordinator

CITROEN-PSA
Address
62 Boulevard Victor Hugo
92208 Neuilly-sur-seine
France

Participants (7)

Commissariat à l'Energie Atomique (CEA)
France
Address
Centre D'études De Grenoble 17 Avenue Des Martyrs
38041 Grenoble
Industrie Zanussi
Italy
Address
Via Giardini Cattaneo 3
33170 Pordenone
Institut National de Recherche en Informatique et en Automatique - INRIA
France
Address
Domaine De Voluceau-rocquencourt
78153 Le Chesnay
KUKA Schweißanlagen und Roboter GmbH
Germany
Address
Blücherstraße 144
86165 Augsburg
TECNOMATIX EUROPE NV
Belgium
Address
Herentalsebaan, 55
2100 Antwerpen
Télémécanique Électrique SA
France
Address
33 Bis Avenue Du Maréchal Joffre
92002 Nanterre
WTCM INDUSTRIAL AUTOMATION
Belgium
Address
Rue Des Drapiers, 21
1050 Bruxelles