Advanced Robotics Manipulation System


ARMS - 2637

Keywords manipulators, robotics, component assembly


Start Date: 01-MAY-89 / Duration: 36 months

[ contact / participants ]


Objectives and Approach

The objective of ARMS is to specify and develop a prototype robotic system capable of performing complex tasks.

Major developments are planned in the following work-areas:

Manipulator The goal for the manipulator area is to develop a new robot with increased speed and accuracy. This shall be performed with the aid of new design methods, for example lightweight concepts, with new calculation methods and new simulation methods. Furthermore, the integration of direct drives will lead to less backlash, more stiffness and more speed.

Controller The specified robot controller prototype developed in the scope of the project will perform the standard functionalities of existing robot controllers and will integrate innovative aspects such as: multiprocessors; multitasking architecture; the use of sensors (force and proximity) to generate compliant motions using a powerful sensor interface fieldnet; a robot language associated with a sequential function chart for the whole description of the workcell; off-line programming of the robot movements using a common language (with the off-line system and dedicated tools for the calibration of the robot and its workcell); an open architecture which will enable an advanced user to implement his own control design with respect to the task carried out.

Simulation and off-line programming The simulation and off-line programming system encompasses advanced functions such as assembly plan generation, collision free trajectories generation, sensor simulation, and logical line and cell design.

Exploitation

The development will be targeted at several applications in the automotive and domestic appliance industries, namely:

The domestic product application will involve imprecise geometry, cooperation of multiple robots, and manipulation of pliable parts (electric cables, rubber hoses, etc).

The results of the project will be exploited by the consortium for assembly operations. The products developed within this project will be commercialised directly by the industrial partners.


CONTACT POINT

Mr Pierre Saint Joigny
CITROEN-PSA
Avenue du Marechal Juin 9
F - 92366 MEUDON LA FORET
tel: + 33/ 1-46-296-110
fax: + 33/ 1-46-296-140
telex: 201618 F

Participants

CITROEN-PSA - F - C
CRIF/WTCM INDUSTRIAL AUTOMATION - B - P
CEA - F - P
KUKA SCHWEISSANLAGEN
& ROBOTER GMBH - D - P
TELEMECANIQUE - F - P
INDUSTRIE ZANUSSI SPA - I - P
INRIA - F - P
TECNOMATIX EUROPE NV - B - A


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ARMS - 2637, December 1993


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html version of synopsis by Nick Cook