| 1. |
- Flordal, Hugo, 1977, et al.
(författare)
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Automatic model generation and PLC-code implementation for interlocking policies in industrial robot cells
- 2007
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Ingår i: Control Engineering Practice. - : Elsevier BV. - 0967-0661. ; 15:11, s. 1416-1426
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Tidskriftsartikel (refereegranskat)abstract
- In industrial production lines, for example in the automotive industry, cells with multiple industrial robots are common. In such cells, each robot has to avoid running into static obstacles and when the robots work together in a shared space they must also avoid colliding with each other. Typically. the latter is enforced by manually implementing interlocks in programmable logic controllers (PLCs). This is a tedious. error-prone task that is a bottleneck in the development of production lines. The PLC-code being man-made also greatly complicates the maintenance and reconfiguration of such production lines. However, in industry today, a lot of development of robot cells is made offline in 3D simulation environments which enables the use of computers also for deciding and implementing the necessary coordination. This paper presents a method that makes use of information in a robot simulation environment in order to automatically extract finite state models. These models can be used to generate supervisors for ensuring that the deadlock situations that may arise as a consequence of the introduced interlocks are avoided. It is also possible to optimize the work cycle time for the cell. Finally, PLC-code to supervise the production cell can be automatically generated from the deadlock-free and possibly optimized system model. This approach results in a high flexibility in that the coordination function can be quickly reimplemented whenever necessary. A prototype implementation has been developed making use of a commercial 3D robot simulation tool, and a software tool for supervisor synthesis and code generation. The approach is general and should be possible to implement in most offline robot simulation tools. (c) 2007 Elsevier Ltd. All rights reserved.
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| 2. |
- Salman, R., et al.
(författare)
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An industrially validated CMM inspection process with sequence constraints
- 2016
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Ingår i: Procedia CIRP. - : Elsevier BV. - 2212-8271. ; 44, s. 138-143
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Konferensbidrag (refereegranskat)abstract
- An efficient CMM inspection process implemented in industry gives significant productivity improvements. A key part of this improvement is the optimization of the inspection sequences. To ensure quality of the inspection the sequences are often constrained with respect to the order of the measurements. This gives rise to so called precedence constraints when modelling the inspection sequence as a variation of the travelling salesperson problem (TSP). Two heuristic solution approaches and a generic optimizing algorithm are considered. A generation based stochastic algorithm is found to reduce cycle time by as much as 12% in comparison to the currently used algorithm.
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| 3. |
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| 4. |
- Spensieri, D, et al.
(författare)
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Integrating Assembly Design Sequence Optimization, and Advanced Path Planning
- 2008
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Ingår i: 2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008; New York City, NY; United States; 3 August 2008 through 6 August 2008. - 9780791843253 ; 1:PART A, s. 73-81
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Konferensbidrag (refereegranskat)abstract
- Assembling a product is a delicate process at the borderline between design and manufacturing. Shortening the time between them plays a central role both for quality assurance and fast time to market. In this paper, we describe an automatic tool based on a new method, integrating assembly design, sequence optimization, and advanced rigid body path planning. First, we introduce a greedy algorithm for assembling a product, part by part, based on state-of-the-art path planning. We exploit all the six degrees of freedom of a rigid body to search for collision-free paths, instead of limited motions. Then, we use assembly design in order to limit the search for an optimal assembling sequence and to guarantee geometrical quality among the sequences examined. Disassembly path planning is used here to further cut the state space and to give a quality measure to the sequences. Eventually, we present results for an industrial test case, which has been successfully solved by applying our method.
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