PRIMOS – A NOVEL CONCEPT TO PROGRAM COMPLEX ASSEMBLY PROCESSES

Markus Ehrmann, Jochen Schlick, Marc Seckner, Detlef Zuehlke

Abstract

Over the past years requirements and size of robot programs have continuously increased. Especially assembly processes increasingly integrate sensors and sensor-based positioning methods to ensure safe processes. Until now programming is realized in manufacturer-dependent text-oriented or graphic-supported simulation systems. If such complex processes have to be realized, both methods result in various disadvantages: Text-oriented programs loose their overview and simulation systems are in need of entire environment models. Due to these reasons, a new concept has been developed in order to improve and simplify the programming of complex sensor based assembly processes. The main objectives of the concept are reducing complexity of robot programs, facilitating clearness for users, supporting diagnostics and handling of trouble during programming. Therefore the technique of visual programming is used and the program is described in an abstract manner by linking graphical symbols. They represent movement of robots and positions of endeffectors. To execute various tasks, so called actions are assigned to the program flow. Further on a concept for handling occurring troubles is integrated. So called exceptions are user-defined and consist of various types of troubles. If an exception is triggered, the program flow will be interrupted and reactions take place. For validation, the concept has been successfully implemented in a tool, named PRIMOS (Programming Robots with an Interference Handling Motion Orientated System). It has been positively evaluated by programming a sensor based assembly process of flanges on optical fibres.

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Paper Citation


in Harvard Style

Ehrmann M., Schlick J., Seckner M. and Zuehlke D. (2005). PRIMOS – A NOVEL CONCEPT TO PROGRAM COMPLEX ASSEMBLY PROCESSES . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 107-112. DOI: 10.5220/0001162801070112


in Bibtex Style

@conference{icinco05,
author={Markus Ehrmann and Jochen Schlick and Marc Seckner and Detlef Zuehlke},
title={PRIMOS – A NOVEL CONCEPT TO PROGRAM COMPLEX ASSEMBLY PROCESSES},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={107-112},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001162801070112},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - PRIMOS – A NOVEL CONCEPT TO PROGRAM COMPLEX ASSEMBLY PROCESSES
SN - 972-8865-30-9
AU - Ehrmann M.
AU - Schlick J.
AU - Seckner M.
AU - Zuehlke D.
PY - 2005
SP - 107
EP - 112
DO - 10.5220/0001162801070112