Abstract
This paper presents an event based control system structure for the control of a robot workcell and its implementation. The goal for this control system is to autonomously manage the dynamic environment of a robot workcell. The presented control system is event driven and operates from tasks and a World model, defined in a task oriented programming session. During realisation of the tasks, the World model is continuously updated by information from sensors. The system always operates on the latest information which may result in re-planning of sub-tasks or whole tasks. The autonomous functionality of the presented system is established through reactive re-planning and configurable corrections. A high level adaptation of the model in the control system to the workcell is of great value for the performance of the robot system. An important and efficient use of robot motion control for application process controlling purposes are enabled through the control systems internal configurable interaction with the environment.
Similar content being viewed by others
References
Ågren, B.: Sensor integration for robotic arc welding, PhD thesis, Department of Production and Materials Engineering, Lund University, Lund, Sweden, 1995.
Braun, R., Nielsen, L., and Nilsson, K.: Reconfiguring an ASEA IRB-6 robot system for control experiments, Technical Report TFRT-7465, Dept. of Automatic Control, Lund Institute of Technology, 1990.
Brink, K., Olsson, M., and Bolmsjö, G.: Task oriented robot programming, in: Proceedings of the Scandinavian Symposium on Robotics, Robotics Society in Finland, October 1994, pp. 103–109.
Brink, K., Olsson, M., and Bolmsjö, G.: Event based robot control, focusing on sensors, in: Proceedings of the International Symposium on Measurement and Control in Robotics, Bratislava, Slovakia, June 1995.
Engelhard, G., Pellkofer, D., and Schuchardt, K.: WIG-Orbitalschweißen, in: Proceedings of DVS/SLV-München, WIG-Orbitaltechnik Conf., Erding, Germany, May 1995, pp. 32–40.
Esprit Project 6042 ‘Hephaestos 2’, Intelligent robotic welding systems for unique fabrications, Final report, wp1, European Commission, 1994.
Freund, E. and Rossmann, J.: Autonomous operation of multi-robot-systems in factory of the future scenarios, in: 6th International Conference on CAD/CAM Robotics and Factories of the Future, 1, 1991.
Grunwald, G.: Modelling and planning for sensor based intelligent robot systems (Task-directed planning of cooperating sensors: A framework), Machine Perception and Artificial Intelligence, Vol. 21, World Scientific, 1995, 143–159.
Kolodner, J. L.: Case-Based Reasoning, Morgan Kaufmann, 1993.
Larsson, L.-O.: The Modelling of geometrical parameters in robotic GMA welding, Licentiate thesis, Department of Production and Materials Engineering, Lund University, Lund, Sweden, 1995.
Naumann A. and Gu, P.: Real time control of configurable manufacturing cells, in: Proc. 10th ISPE/IFAC International Conference on CAD/CAM, Robotics, and Factories of the Future, 1994.
Nikoleris, G.: On the programming of welding robots, PhD thesis, Department of Production and Materials Engineering, Lund University, Lund, Sweden, 1988.
Nilsson, K.: Application oriented programming and control of industrial robots, Licentiate thesis, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, 2nd edn., 1992.
Nilsson, K.: Industrial robot programming, PhD thesis, Dept. of Automatic Control, Lund Institute of Technology, 1996.
Olsson M., Brink, K., and Bolmsjö, G.: A visual task oriented robot programming system, in: Proceedings of the International Symposium on Measurement and Control in Robotics, Bratislava, Slovakia, 1995.
Sheu, P. C.-Y. and Xue, Q.: Intelligent Robotic Planning, World Scientific Publishing, 1993.
Steiger-Garcao, A. and Camarinha-Matos, L. M.: A conceptual structure for a robot programming system, Robotics International Journal 3, 1987.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Brink, K., Olsson, M. & Bolmsjö, G. Increased Autonomy in Industrial Robotic Systems: A Framework. Journal of Intelligent and Robotic Systems 19, 357–373 (1997). https://doi.org/10.1023/A:1007909120189
Issue Date:
DOI: https://doi.org/10.1023/A:1007909120189