Learning objectives

Question 1

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

Answer 1

1. Joint-oriented programming
   * Recording joint values
   * No knowledge about the Cartesian space (coordinate systems)
   * Going between points without any regards to the trajectory
2. 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)
3. 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
4. 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”
5. 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

Question 2

Which are the major cost drivers in implementing industrial robots?

Answer 2

The system, installation and programming

Question 3

How can the 3D Simulation System DELMIA be used to create robot kinematics?

Answer 3

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.

Question 4

What is parallel kinematics?

Answer 4

“A generalized parallel manipulator is a
closed-loop kinematic chain mechanism whose
end-effector is linked to the base by several
independent kinematic chains.”

Question 5

How does Volvo Cars apply Virtual Robotics in their processes and what is VOLP?

Answer 5

VOLP - link between simulation and robot

By using simulation models such as virtual comissioning

Question 6

What are the most common robot applications today?

Lecture 20240411 Robot Applications and Market Trends.pdf

Answer 6