Off-line programming of industrial robots: proceedings of the IFIP WG 5.3/IFAC Working Conference on Off-line Programming of Industrial Robots, Stuttgart, FRG, 2-3 June 1986
Alfred Storr, J. F. McWaters, International Federation for Information Processing. Working Group 5.3, International Federation of Automatic Control
North-Holland, Feb 1, 1987 - Computers - 199 pages
Industrial robots are now being more readily included into highly integrated, expensive, manufacturing systems. The development of off-line teaching methods has thus become increasingly important, if costly on-line programming time is to be avoided. This, combined with the fact that the programming aspect now forms one of the major bottlenecks delaying the expansion of robot applications, makes this book most timely in its attempt to offer solutions to the problem. The comparison of methods and experiments contained in this volume will be of help in establishing guidelines for future industrial use of robots. Programming strategies are examined, as are assembly applications, simulation, programming aids and programming for a CIM environment. A number of examples are included, illustrating the current state of off-line techniques.
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0ff-line acceleration algorithm application approach assembly cell assembly stations assembly task automatic BAPS boxes CAD-system CATIA clamp collision detection commands complex compliant motion cone configuration constrained motions constraints conveyor coordinates data base described developed display end effector environment example execution functions geometrical data graphical simulation GRASP gripper industrial robots interactive interface inverse kinematic IRDATA J.F. McWaters Editors J0INT Kimura kinematic Krause M0VE manipulation manipulator-gripper manufacturing methods minimum distance movement Niehaus object off-line programming off-line robot programming operations orientation paint path polyhedron position problem product modelling programming language Programming of Industrial real robot robot control robot model robot motion robot programming system rotation Science Publishers B.V. sensor sequence SESSI0N simulation system solid modeller specification speed spray gun Stobart structure subroutine surface task frame teach pendant teach-in techniques tion tool trajectory transformation VAL-II vector wire harness workcell workpiece world model