How does a Virtual Robotic process work and what are the abstraction levels of programming??
Q.5
Found in 2024011 Robot Simulation and Programming.pdf
- Joint-oriented programming
* Recording joint values
* No knowledge about the Cartesian space (coordinate systems)
* Going between points without any regards to the trajectory - Robot-oriented programming
* The most common approach in robot
programming
* Work with coordinate systems
*Able to move on defined trajectories
between points (circles and lines)
*Can be programmed in different coordinate
systems (base coordinate system, TCP or
user defined coordinate systems) - Robot-oriented programming
* First degree of the “high-level programming”
* The engineer knows about the geometry of
the objects to be assemblied; hence it is
intuitive to use symbolic spatial relations.
* The program consist only of events that are
specified on a geometrical level
* The system plans how to execute the events
* Need a model of the world, but the system
does not “know” about it - Object-oriented programming
(“Task-level” of high-level programming)
* The robot is given a start condition and an
end condition
* Resembles instructions given to a human
skilled worker.
* Tasks to be executed by the robot is only
specified as process modules (drill hole 1)
* The robot know by itself how to execute
each process and manages to reach the
goal by itself
* Robot can be integrated with databases
* Robot knows about the “World model” - Goal-oriented programming
* The robot understands the complete
process
* The only thing given is the start- and
end state
* Define roles that the system will
follow
* Exists today in space applications
* AI
Which are the major cost drivers in implementing industrial robots?
The system, installation and programming
How can the 3D Simulation System DELMIA be used to create robot kinematics?
The motion sequence of the robot
is defined, simulated and optimized
in a three-dimensional screen
environment. Both the environment
of the robot and the tool can be
mapped.
What is parallel kinematics?
“A generalized parallel manipulator is a
closed-loop kinematic chain mechanism whose
end-effector is linked to the base by several
independent kinematic chains.”
How does Volvo Cars apply Virtual Robotics in their processes and what is VOLP?
VOLP - link between simulation and robot
By using simulation models such as virtual comissioning
What are the most common robot applications today?
Lecture 20240411 Robot Applications and Market Trends.pdf
