An outline of a modular and multiarm assembly cell with object-oriented control
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 592-597 vol.1
- https://doi.org/10.1109/iecon.1990.149208
Abstract
A novel modular, multipurpose, and multiarm (M/sup 3/) assembly robot cell type with high-level object-oriented control is presented. The M/sup 3/ assembly cell is based on a modified orthogonal linear structure. The highest control levels are planned to be based on an object-oriented database by which product model, sensor data, and control programs are represented. The idea of the control scheme is to use past sensor information to fine-tune or adapt the cell to slightly changing situations or to detect and recover from errors. The controller is implemented on a PC network so that part of the control algorithms can be distributed.Keywords
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