Robot Technology and Applications: Proceedings of the 1st Robotics Europe Conference Brussels, June 27–28, 1984 PDF
Preview Robot Technology and Applications: Proceedings of the 1st Robotics Europe Conference Brussels, June 27–28, 1984
Robot Technology and Applications Robot Technology and Applications Proceedings of the 1st Robotics Europe Conference Brussels, June 27-28, 1984 Editors: K. Rathmill, P. MacConaill, S. O'Leary, and J. Browne With 80 Figures Springer-Verlag Berlin Heidelberg GmbH 1985 Keith RATHMILL Chairman - Robotics Europe Cranfield Robotics and Automation Group Cranfield Institute of Technology Bedford MK 43 OAL England Patricia MACCONAILL Task Force ofInformation Technologies and Telecommunications Commission of the European Communities 200, rue de la Loi 1049 Brussels Belgium Patrick O'LEARY Directorate General III Commission ofthe European Communities 200, rue de la Loi 1049 Brussels Belgium JimBROWNE Secretary - Robotics Europe Department of Industrial Engineering University College Galway Republic ofIreland Library of Congress Cataloging in Publication Data Robotics Europe (Organization). Conference (lst: 1984 : Brussels, Belgium) Robot technology and applications. 1. Robotics--Congresses.2. Robots, Industrial--Congresses. 1. Rathmill, K. (Keith),II. Title. TJ2IO.3.R63 1984 629.8'92 84-23547 ISBN 978-3-662-02442-3 ISBN 978-3-662-02440-9 (eBook) DOI 10.1007/978-3-662-02440-9 This work is subject to copyright. AII rights are reserved, whether the whole or part of the material is concerned, specifically those of translatlOn, reprinting, re-use of iIIustrations, broadcasting, reproduction by photocopying machme or similarmeans, and storage in data banks. Under§540fthe German Copyright Lawwhere copies are made for other than private use, a fee is payable to "Verwertungsgesellschaft Wort", Munich. © Springer-Ver[ag Berlin Heidelberg 1985 Originally published by Springer-Ve rlag Berlin Heidelberg New YorI< Tokyo in 1985 Softcover reprint ofthe hardcover Ist edition [985 The use ofregistered names. trademarks, etc. in this publication does not imply, even in theabsenceof a specific state ment, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. 2061/3020-543210 Robotics Europe Conference '84 European Industrial Robot Activities and Perspectives Conference Organizing Committee Dr. J. Browne, University College, Galway, Ireland Mr. J. Chabrol, Renault, France Dr. R. Dillmann, University of Karlsruhe, FRG Prof. D. Fabrizi, CEI, Italy Dr. G. Gini, Politecnico Milano, Italy Ms. P. A. MacConaill, CEC, Brussels, Belgium Mr. S. O'Leary, CEC, Brussels, Belgium Mr. N. Percival, MTIRA, UK Prof. K. Rathmill, Cranfield Institute of Technology, UK Prof. U. Rembold, University of Karlsruhe, FRG Dr. G. Schiele, IPA, Stuttgart, FRG Dr. P. ten Hagen, Stichting Mathematisch Centrum, Netherlands Prof. H. J. Warnecke, IPA, Stuttgart, FRG Editorial Board for the Conference Proceedings Dr. J. Browne, University College, Galway, Ireland Mrs. P. A. MacConaill, CEC, Brussels, Belgium Mr. S. O'Leary, CEC, Brussels, Belgium Prof. K. Rathmill, Cranfield Institute of Technology, UK Acknowledgements The Conference organizing committee gratefully acknowledges the support of the Commission of the European Communities (CEC) for the activities of Robotics Europe over the past two years. In particular, it wishes to acknowledge the support of the CEC for the Robotics Europe Conference '84, of which this book is a record of the papers presented. Sincere thanks to Cranfield Institute of Technology, in particular to Mrs. Geraldine W. Hookway and her staff, who provided an efficient and courteous administrative and secretarial service for the conference. Thanks also to Mrs. Geraldine W. Hookway, Mrs. Linda Nicholls and Mr. Joe VanDamme, who provided a liaison and back up service throughout the two days of the conference. Industrial Robotics Standardization Europe Industrial Robotics Standardization Europe, known as Robotics Europe is an EEC based organization, supported within the framework of the Information Technologies programme of the European Community. Founded in June 1982, it has now grown into an active group of some thirty five members drawn from all member countries of the European Community. The group has now divided into five well defined sub groups working in the following areas: Health and Safety Aspects of Industrial Robots Industrial Robot Terminology Industrial Robot Programming Systems Industrial Robot Communications and Interfaces Performance Testing of Industrial Robots. The objectives of Robotics Europe are as follows: 1. To further the awareness, development and application of industrial robots within the European Community. 2. To pool resources and exchange information on robotics within and outside the EEC in order to ensure that the scarce expertise in robotics and associated techniques is used most effectively. 3. To advise the Commission of the European Communities on robot related topics. 4. To provide an essential link between the EEC Commission and the inter national and national standards organization within Europe involved in the standardization of robotics and associated technologies. 5. To provide one of the links between the EEC Commission, the United States and Japan for the exchange of information at appropriate level. This book is a record of proceedings of the first conference of Robotics Europe, held in Brussels on June 27-28, 1984. VIII For further information on Robotics Europe contact: Professor Keith Rathmill Chairman - Robotics Europe Cranfield Robotics and Automation Group Cranfield Institute of Technology Bedford MK43 OAL England Telephone: (0234) 750111 Telex: 825072 CITECH G or Dr. Jim Browne Secretary-Robotics Europe Department of Industrial Engineering University College Galway Republic of Ireland Telephone: (091) 24411 Ext. 625 Telex: 28823 UCG EI Table of Contents ESPRIT and Robotics Europe P. A. MacConaill . . . . . . . 1 Performance characteristics and performance testing of industrial robots - state of the art H. J. Warnecke, G. Schiele. . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Project for development of a photogrammetric method for the evaluation of the dynamic performance of industrial robots M. Priel, B. Schatz. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Dynamic performance measurement of robot arms J. H. Gilby, R. Mayer, G. A. Parker . . . . . . . . . 31 Application of the experimental modal-analysis in the performance testing procedure of industrial robots H. J. Warnecke, R. D. Schraft, M. C. Wanner . . . . . . . . . . . . . . . . . 45 A review of safety standards N. Percival . . . . . . . . . . . . . . 55 Safety of robot installations in France J. P. Vautrin . . . . . . . . . . . . . . 61 Assessment of programmable electronic systems with particular reference to robotics R. Bell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Occupational safety and industrial robots-present stage of discussions within the tripartite group on robotic safety P. Nicolaisen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 4 Towards developing reliability and safety related standards using systematic methodologies F. Duggan, R. H. Jones, K. Khodabandehloo . . . . . . . . . . . . . . . . . 90 International standards activities in the field of industrial robots J. J. Hunter . .......................... . 108 Standardization in the industrial robot field B. Knorr . ................ . 116 International standardisation related to industrial robots H. Tipton ........................ . 122 X Robot languages in the eighties G. Gini, M. Gini. . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 Robot programming using a high-level language and CAD facilities C. Laugier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Implicit robot programming based on a high level explicit system and using the robot data base RODABAS C. Blume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 Robot architecture for the integration of robots into manufacturing cells R. Dillmann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 The development of a European benchmark for the comparison of assembly robot programming systems K. Collins, A. J. Palmer, K. Rathmill. . . . . . . . . . . . . . . . . . . . . . 187
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