| 1. |
- Björkelund, Anders, et al.
(författare)
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On the Integration of Skilled Robot Motions for Productivity in Manufacturing
- 2011
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Ingår i: IEEE International Symposium on Assembly and Manufacturing (ISAM), 2011. - 9781612843438 - 9781612843421 ; , s. 1-9
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Konferensbidrag (refereegranskat)abstract
- Robots used in manufacturing today are tailored to their tasks by system integration based on expert knowledge concerning both production and machine control. For upcoming new generations of even more flexible robot solutions, in applications such as dexterous assembly, the robot setup and programming gets even more challenging. Reuse of solutions in terms of parameters, controls, process tuning, and of software modules in general then gets increasingly important. There has been valuable progress within reuse of automation solutions when machines comply with standards and behave according to nominal models. However, more flexible robots with sensor-based manipulation skills and congnitive functions for human inteaction are far too complex to manage, and solutions are rarely reusable since knowledge is either implicit in imperative software or not captured in machine readable form. We propose techniques that build on existing knowledge by converting structured data into an RDF-based knowledge base. By enhancements of industrial control systems and available engineering tools, such knowledge can be gradually extended as part of the interaction during the definition of the robot task.
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| 2. |
- Ive, Anders, et al.
(författare)
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Garbage collector interface
- 2002
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Ingår i: Proceedings of the Tenth Nordic Workshop on Programming and Software Development Tools and Techniques (NWPER 2002).
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Konferensbidrag (refereegranskat)abstract
- The purpose of the presented garbage collector interface is to provide a universal interface for many different implementations of garbage collectors. This is to simplify the integration and exchange of garbage collectors, but also to support incremental, non-conservative, and thread safe implementations. Due to the complexity of the interface, it is aimed at code generators and preprocessors. Experiences from ongoing implementations indicate that the garbage collector interface successfully provides the necessary functionality in an efficient way,
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| 3. |
- Blomdell, Anders, et al.
(författare)
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Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface
- 2005
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Ingår i: IEEE Robotics & Automation Magazine. - 1070-9932. ; 12:3, s. 85-94
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Tidskriftsartikel (refereegranskat)abstract
- Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications. To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment in products required affordable computing power, efficientengineering tools, customer needs for productivity/performance, and improved end-user competence in the utilization of performance features. However, applications that are considered nonstandard today motivate a variety of research efforts and system development to package results in a usable form. Actually, robots are not useful for many manufacturing tasks today, in particular those found in small and medium enterprises (SMEs). Reasonsinclude complex configuration, nonintuitive (for the shop floor) programming, and difficulties instructing robots to deal with variations in their environment. The latter challenge includes both task definitions and definition of motion control utilizing external sensors. The key word here is flexibility, and flexible motion control is particularly difficult since the user or system integrator needs to influence the core real-time software functions that are critical for the performance and safe operation of the system. We must find techniques that permit real-time motion controllers to be extended for new, demanding application areas.
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| 4. |
- Blomdell, Anders, et al.
(författare)
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Flexible application development and high-performance motion control based on external sensing and reconfiguration of ABB industrial robot controllers
- 2010
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Ingår i: ; , s. 62-66
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Konferensbidrag (refereegranskat)abstract
- New robot applications increasingly require external sensing to accomplish robustness and performance despite the variations and uncertainties that come with the increasing demands on flexibility for manufacturing of customized products. The demands on productivity then require high performance, which for well known feedback-control reasons means short response times from external process event to reaction on the robot motor control. The need for high- performance sensor interfaces connected to the motion control without excessive buffering and computations has therefore gained increasing attention over the last decade. Apart from high sampling frequencies and short latencies, there are also engineering aspects to consider. Control engineering tools should be possible to utilize, additional computing power is better connected via real-time Ethernet connections, and all interfaces should check compatibility without sacrificing performance. Furthermore, all that should preferably coexist with the original system, superimposing the effects on external sensing while still maintaining safety and consistency of data. The reason is that the original control software is model based and built on millions of lines of C-code, and tested beyond the possibilities of a research lab. Such a system has been accomplished for control and application development using ABB robots. A short description of the system is given, and its use for application/control development is exemplified. User specific feedback control can be done easily with short sampling periods and less than 1ms of latency from sensing to motor reaction.
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| 5. |
- Robertsson, Anders, et al.
(författare)
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Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring
- 2006
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Ingår i: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D). - 1424402581 ; , s. 2743-2748
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Konferensbidrag (refereegranskat)abstract
- In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers
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| 8. |
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| 9. |
- Blomdell, Anders
(författare)
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Eager Evaluation Considered Harmful
- 2000
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- In real-time systems potentially unbounded loops and lazy (late) evaluation are often avoided in order to improve predictability. This paper will show that a commonly suggested way to implement semaphores can lead to unnecessary blocking of high-priority tasks. It also presents a scheme with lazy evaluation and (potentially) unbounded loops that gives less blocking of high-priority tasks.
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| 10. |
- Blomdell, Anders
(författare)
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Efficient Java™ monitors
- 2001
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Konferensbidrag (refereegranskat)abstract
- In most real world systems, objects vastly out- numbers threads. This paper shows how this characteristic can be used to implement eficient JavaTMmonitors in a way that reduces the num- ber of needed monitors to be equal to the number of threads, while fulfilling the Java™synchronized semantics. Some additional benefits related to prior- ity inheritance and hierarchical resource locking will also be briefly explored.
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