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Definition and Execution of a Generic Assembly Programming Paradigm

Maass, Jochen and Molkenstruck, Sven and Thomas, Ulrike and Raatz, Annika and Hesselbach, Jürgen and Wahl, Friedrich (2008) Definition and Execution of a Generic Assembly Programming Paradigm. Assembly Automation Journal, pp. 1-8. Emerald.

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Abstract

This paper aims to introduce a generic robot-programming paradigm for assembly tasks that overcomes the strong coupling between the motion commands and underlying algorithms of programming languages currently on the market. Therefore, it allows an improved method of assembly task programming. Design/methodology/approach – A manipulation primitive (MP) is defined which decouples the programming concept from the algorithms. These primitives can be integrated into existing programming languages and are supported by an intuitive graph-based language which is introduced in this paper. An open reference architecture to support those primitive-based programming languages has been designed. Findings – It is possible to describe complex assembly tasks such as manipulation on conveyors or sensor-integrated compliant motion without abandoning the generality of the programming paradigm. Execution on a reference control system has proven to be successful for several manipulation tasks on different machines. Originality/value – A complete definition of the MP and a graphical language based on this primitive is given, accompanied by extensive detail information on crucial aspects of the control architecture such as modular trajectory generation, generic interfaces, and real-time task scheduling.

Item URL in elib:https://elib.dlr.de/56175/
Document Type:Article
Title:Definition and Execution of a Generic Assembly Programming Paradigm
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maass, JochenTU BraunschweigUNSPECIFIED
Molkenstruck, SvenTU BraunschweigUNSPECIFIED
Thomas, UlrikeUNSPECIFIEDUNSPECIFIED
Raatz, AnnikaTU BraunschweigUNSPECIFIED
Hesselbach, JürgenTU BraunschweigUNSPECIFIED
Wahl, FriedrichTU BraunschweigUNSPECIFIED
Date:January 2008
Journal or Publication Title:Assembly Automation Journal
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1-8
Publisher:Emerald
Status:Published
Keywords:Assembly, Controllers, Robotics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - ARGOS (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By: Thomas, Dr.-Ing. Ulrike
Deposited On:18 Nov 2008
Last Modified:05 Feb 2013 13:28

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