Robotic Programming for High-Mix Applications Robotic Programming for High-Mix Applications Greg...
Transcript of Robotic Programming for High-Mix Applications Robotic Programming for High-Mix Applications Greg...
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Robotic Programming for High-Mix Applications
Greg Culp
Software Sales Manager
Hypertherm Robotic Software
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Automate 2017• Iconic Movie Theme
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Composer
Monty Norman
Composed James Bond Theme song in 1962 for the film Dr. NO.
Automate 2017
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Automate 2017
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Robotic Software “Mindshift”
• Perception of Robotic Software needs to change.
• Dedicated Robotic Software Development Companies.
• One Platform for Multiple Applications.
Table of Content
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Table of Content
• Drivers for high-mix low-batch production
• Robot programming barriers
• Task based programming
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INDUSTRY DRIVERS
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Industry Drivers
• New robotic markets emerging
• Milling and trimming
• Cutting (laser, plasma,
waterjet)
• Welding
• Painting, spraying,
dispensing
• Polishing, grinding,
sanding
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Industry Drivers
• Advances in manufacturing
Global Economy
Flexible Automation
Just-in-Time / Lean
Innovative new processes
▲ Performance, ▼Costs
ROI /Capital expenditures
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Industry Drivers
• New robotic markets emerging
“The model company is no longer a large entity such as GM, Chrysler, or
Ford but small and medium sized enterprises…. The need in such an
economy is far more dependent on higher degrees of adaptation, ease of
use, and other factors that enable small runs of made-to-order products.”
Roadmap to the Future by Paul Kellett,
RIA Director - Market Analysis
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Industry Drivers
• Hardware capability is almost there
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Industry Drivers
• Programming robots is very different than a CNC machine tool
Program
Teach
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PROGRAMMING BARRIERS
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Programming Barriers
• Task dimension and machine tool kinematics
2D
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Programming Barriers
• Task dimension and machine tool kinematics
3D
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Programming Barriers
• Task dimension and machine tool kinematics
5X
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Programming Barriers
• Tasks are commonly 2-5D
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Programming Barriers
• Robots are typically 6D+
6X 7X 9X
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Programming Barriers
• A typical 6 axis robot only has rotary axis
• Joint limits are hard to check
intuitively
• Robot to part collision is
impossible to determine
without simulation
• Reach is difficult to check
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Programming Barriers
• It is desirable to program a robot in Cartesian coordinates
• Robots are commanded in joint values by the robot controller
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Programming Barriers
• A 6 axis robot requires position and orientation for each point
(X,Y,Z),(I,J,K)
• Tasks are typically 2-5D
• Managing 6D pose is required
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Programming Barriers
• Programs must be singularity free
• A six axis robot has three singularity zones
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Programming Barriers
• A robot has 8 possible configurations for every point
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Programming Barriers
• A variety of manufacturing processes (additive/subtractive/forming)
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Programming Barriers
• A variety of manufacturing processes (additive/subtractive/forming)
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Programming Barriers
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Programming Barriers
• Robot off-line simulation and programming software
• More robot centered, less task focused
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Programming Barriers
• CAD/CAM Software
• More path centered, less robot focused
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2D Problem
• Dimensions of a solution are very important
2D INPUT
COLD WATER
HOT WATER
2D OUTPUT
FLOW
TEMPERATURE
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2D Problem• Dimensions of a solution are very important
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2D Problem
• Difficult user experience
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TASK BASED PROGRAMMING
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Task Based Programming
• Task and Device independence
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Task Based Programming
• CASE: Trimming of knee brace
• BEFORE: Manual
• AFTER: Robotic
EXPERTISE REQUIRED?
Task/Process
Programming and CAD/CAM
Robotics and Simulation
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Task Based Programming
• Easy robot programming
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Task Based Programming
• Easy robot programming
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TASK SHARING
STRICTLY CONFIDENTIAL – FOR INTERNAL USE ONLY
SOURCE: http://video.bonappetit.com/watch/jacques-pepin-peels-an-apple
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Task Sharing
Holder arm
Worker arm
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Task Sharing
• Cooperative task sharing
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Task Sharing
• Cooperative task sharing
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Task Sharing
• Optimized cooperative task sharing
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Task Sharing
• Cooperative task sharing
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Task Sharing
• Task success is easy with the proper programming tools
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Programming Barriers
• Kinematics and Robotics (Hyper real-time calculations)
• Mathematical Optimization (AI, Deep/Machine Learning)
• Simulation and User Interaction (Collisions)
• CAD/CAM (Easy task based programming)
• Technology paradigm shift = Multi-disciplinary team
Software Engineering
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Greg CulpSenior Software Sales Manager
Robotmaster (Hypertherm Inc.)21 Great Hollow Rd
Havover, NH
USA
Telephone: 630-643-3441 ext. 3014
Email: [email protected]
www.robotmaster.com