ロボット言語つきアーク溶接ロボットにおける船殼小組立溶接マクロの研究
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概要
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Concerning the arc-welding robot to be use in the shipbuilding sub-assemblies, it is necessary to investigate the method of the teaching in short time. For the teaching in easy, some Robot languages and off-line programming systems shall be able to apply on industrial robots. But the levels by intelligence of these languages and systems in practical use are motion level and then the time required teaching shall not be in short by their lower level. Task level robot language of higher level by intelligence should be necessary to teach in short time. But at present, task level language of general use is still at a stage of investigation in the laboratory. Here, MACRO programs having task level robot language functions had been investigated and developed for the specified purpose of welding task in hull sub-assemblies. Number of lines of indirect teaching program remarkably (about 1/35 of motion level language) decrease and the time required teaching can be in short by the effect to use it. MACRO programs have following new features: (1) All motions with their conditions throughout welding task to be automatically generated in MACRO programs. (2) Movement of robot arms to be automatically controlled by the program within their working range. (3) Welding workpiece to be able to put any direction with same program. The position of workpiece to be got by touch sensing with the guide of two point direct teachings and axis transformation to be done automatically.
- 社団法人日本船舶海洋工学会の論文
- 1989-08-25
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