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 1986Alfred Storr, J. F. McWaters 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. |
Contents
Preface | 1 |
OffLine Programming of Industrial Robots IR | 7 |
Comprehensive Modelling of a Machine Assembly for OffLine | 19 |
Copyright | |
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Common terms and phrases
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 constraints conveyor coordinates data base described developed display end effector example execution functions geometrical data graphical simulation GRASP gripper GROSIM IFIP industrial robots input interactive interface inverse kinematic IRDATA J.F. McWaters Editors Kimura kinematic Krause manipulation manipulator-gripper manufacturing methods minimum distance MOVE movement Niehaus off-line programming system off-line robot programming operations orientation paint path polyhedron position problem product modelling programming language Publishers B.V. North-Holland real robot robot control robot kinematics robot model robot motion robot programming system rotation Science Publishers B.V. sensor sequence simulation system solid modeller specification speed spray gun Stobart storage structure subroutine surface task frame teach pendant teach-in techniques tion tool trajectory transformation VAL-II vector wire harness workcell workpiece world model