Table Of ContentSchriftenreihe
der Wissenschaftlichen Landesakademie
fur Niederosterreich
P. Kopacek (ed.)
Robotics in
Alpe-Adria Region
Proceedings of the
2nd International Workshop (RAA '93),
June 1993, Krems, Austria
Springer-Verlag Wien New York
Dipl.-Ing. Dr. Peter Kopacek
Scientific Academy of Lower Austria, Krems, Austria
This work is subject to copyright.
All rights are reserved, whether the whole or part of the material is concerned,
specifically those of translation, reprinting, re-use of illustrations, broadcasting,
reproduction by photocopying machines or similar means, and storage in data banks.
© 1994 Springer-Verlag/Wien
Softcover reprint of the hardcover 1st edition 1994
Printed on acid-free and chlorine-free bleached paper
With 133 Figures
ISSN 0940-5801
ISBN-13: 978-3-211-82545-7 e-ISBN-13: 978-3-7091-9346-4
DOl: 10.1007/978-3-7091-9346-4
v
Preface
Industrial robots as a kind of a mechatronic system were the objects for intensive scientific
research in the last years. Kinematics and kinetics, advanced control algorithms, flexible robots,
mobile robots, cooperation of robots were research topics. Meanwhile the industrial robot is
more or less a tool on the shop floor level like NC- and CNC-machines, transportation and
storage devices. The current research landscape on industrial robots can be divided in two
directions. The first direction is the scientific one and topics like fuzzy control, applications of
neuronal networks, application of methods of artificial intelligence for robot control, optimal
path planning are currently headlines in this field. On the other hand the application oriented
research goes in the direction to develop and create new low-cost concepts including industrial
robots applicable in a commercially efficient way mainly in small and medium sized companies.
The industry in most of the member countries of the Alpe-Adria Group are dominated by small
and medium sized companies. Industrial robots together with the appropriate CIM-concepts
are a very efficient tool for increasing the flexibility of such companies. At the first meeting in
Portoroz (June 1992), a first overview on robotics research and applications in Alpe-Adria
countries was given. First steps were done in the direction of a broader cooperation in science,
development, production and level of education among these countries. This second meeting in
Krems tried to establish new links between scientists and managers to develop priority
suggestions for governments and investment strategies. Furthermore the participants should be
informed on the goals of this group and proposals for international cooperation in terms of
common projects should be discussed on the goals of this group.
For this second workshop in Krems more than 60 abstracts were submitted to the organizers.
According to the scope and the topics the papers deal with review of industrial applications of
robots in Alpe-Adria Region, review of research activities, review of university and research
centres, low-cost automation for small and medium sized companies, robots and intelligent
manufacturing system especially an assembly automation and last but not least education in
robotics. In this proceedings selected papers are collected.
I hope that this workshop and the written material will stimulate the cooperation and definition
of common research projects and activities in the field of robotics in the broadest sense in the
Alpe-Adria Region.
P. Kopacek
Krems, December 1993 Editor
VII
Contents
x
Committees and Sponsors
Surveys
Robotics Research in Austria; K. Desoyer, P. Kopacek, I. Troch (A) 1
Considerations on Objectives, Tasks and Organisation of A1pe-Adria
Centre for Robotics and Automation; J. Lenarcic, U. Stanic, P. M. Oblak (SLO) 8
Advanced Control Concepts for Industrial Robots;
P. Kopacek (A), P. Otto, 1. Wernstedt (D) 13
IMProvement in Automation and Control Technology -A Joint European
Initiative; P. Gabko, M. Stierle (A) 24
Robotics Research in Alpe Adria
Research Activities in Robotics at RISC -Linz; S. Stifter (A) 29
Applied Robotics Group Research Activities at the ITIA -Institute for
Industrial Technologies and Automation ofCNR; C. R. Boer, E. Imperio (I) 34
Robotic Research at the Scientific Academy of Lower Austria;
P. Kopacek, G. Krenn (A) 39
Robot Kinematics and Kinetics
Robot Wrist Configurations, Mechanisms and Kinematics;
A. Romiti, T. Raparelli, M. Sorli (I) 44
Parallel Evaluation of Robot Kinematic Transformations;
K. Dobrovodsky, P. Kurdel (SQ) 49
Robot Arm Modelling and Control; S. Uran, K. Jezernik (SLO) 54
Dynamic Model of a Mobile Robot for Analyzing End-effector Deviations
Caused from Ground Unevenness; G. Elsbacher (A) 59
Construction, Design and Simulation of Robots
Considerations for the Construction of Lightweight Robots;
K. Desoyer, I. D. Caushi, P. Kopacek (A) 64
Design and Construction of a Modular Robot with Eulerian Joints;
M. M. Gola, D. Botto (I) 69
VIII
Design of SCARA Robot; D. Noe, M. Skubic (SLO) 74
Design and Measures for Lightweight Industrial Robots; I. D. Caushi (A) 79
Designing Manipulators for a Robotized Manufacturing;
M. Ceccarelli, L. Carrino (I) 84
Optimal Stochastic Design of a Parallel Robot for Tolerance;
P. B. Zobel, P. Di Stefano (I) 89
USIS -an Advanced 3D-Robot Simulation System;
L. Bauer, R. Stetter, C. Woenckhaus (D) 94
Emulation of Articulated Robots;
G. Conte, T. Leo, S. Longhi, R. Zulli (I) 99
ALMORO - Symbolic Robot Dynamics Customizer; K. Swider (A) 104
Techniques to Improve the Performance of an Industrial SCARA Robot;
R. Faglia, C. Remino (I) 108
Robot Control
Experimental Multiprocessor Robot Controller; M. Terbuc, K. Jezernik (SLO) 113
Implementation of a Low Cost Robot Controller PC-ROBOCONT on Hydraulic
Robot for Spray Painting G-201; B. Nemec, L. Zljapah, S. Mrak (SLO) 118
Robust Adaptive Lyapunov -based Robot Control; V. Vesely, D. Kalas (SLO) 123
Stability of Hybrid PositionIForce Control Scheme during Free Motion;
L. Zlajpah, B. Nemec (SLO) 128
Sensors and Mobile Robots
Recognition of Three-dimensional Objects Using Two-dimensional Subspaces
Gained by Intersections; P. Stohr (D) 133
Multi-sensor Technique for Increasing Intelligence of Assembly Robots;
F. Alpek, Z. Nagy, P. Sallay, T. Szalay, K. Szelig, K. Toth (H) 138
Design of a Planetary Leg Mechanism Using Chebyshev's Optimization
Method; E. Pennestri, A. Di Benedetto, N. P. Belfiore (I) 143
A New Hybrid Locomotion Mobile Robot for Semi-structured Environments;
C. Ferraresi, G. Quaglia (I) 148
Commanding a Robot by Voice: Speech and Autonomous Navigation for
the Mobile Robot of MAlA; B. Caprile, G. Lazzari (I) 153
Applications
Robot Welding of Tubes; P. Andris, K. Dobrovodsky, P. Kurdel (SQ) 158
IX
CAD for Robot Workcells in Battery Manufacturing;
R. Kamnik, T. Bjad, A. Kralj (SLO) 163
An Automatic Control on Band Saw Tool Vibrations in the Primar Cutting
Process; Z. Trpovski, S. Loskovska, D. Mihajlov, S. Suselski (MAC) 168
Low Cost CAD/CAM-coupling Applications of Artificial Intelligence to
Robotic Assembly; A. G. Yarmosh, A. P. Gavrish, M. Zauner (UKR / A) 173
Robots in Manufacturing Cells
Scheduling in Flexible Manufacturing Systems, Supported through Cyclic
Net Analysis; L. Lenart, A. Ruzic (SLO) 178
Computer Aided Planning ofRobotized Assembly Systems;
M. Skubic, D. Noe (SLO) 183
A User-friendly Software Tool for the Semiautomatic Design of Small
Assembly Cells; R. Kratschmann, P. Havlicek (A) 188
Data Structures and Procedures for Computer Representation of Robot Cells;
A. Ruzic (SLO) 193
Robots in Testing
Robot Guided Anthropoidic Measuring Device; I. Kovac, A. Frank (A) 198
Circular Test: a New Method for Testing Industrial Robots;
F. Haas, A. Frank (A) 203
A Low Cost Robot System for Stylus and Workpiece Manipulation in
Computer Aided Quality Control; P. H. Osanna, E. Sarigel, N. M. Durakbasa,
R. Oberlander, C. P. Heiss, D. Prostrednik (A) 208
Low Cost Automated Measuring System for Circularity Measurements;
B. Acko, M. Milfelner, A. Sostar (SLO) 213
Rationalization of the CAD Data Management in Quality Assurance Systems;
B. Sesko, A. Sostar, A. Acko (SLO) 217
Various Aspects
Modular Parallel Gripper System; G. Kronreif, R. Probst (A) 221
Robotics in Transportation; R. Genser (A) 226
x
S tee r in g Co m m itte e
G.Belforte Politecnico di Torino, Italy
E. Fugger Austrian Research Centre Seibersdorf, Austria
K. Jezernik University ofMaribor, Slovenia
P. Kopacek Technical University of Vienna, Austria
1. Lenarcic Iozef Stefan Institute Ljubljana, Slovenia
J. Marton State Office for Technical Development, Hungary
A. ROl'etta Politecnico di Milano, Italy
U. Stanic Iozef Stefan Institute Ljubljana, Slovenia
Organising Committee
P. Kopacek Chairman
N. Stanek
A. Weichselbaum Secretary
A. Kefeder Secretary
Sponsored by
Austrian Ministry of Science and Technology
Scientific Academy of Lower Austria
Institute for Handling Devices and Robotics,
Technical University of Vienna
Robotics Research in Austria
K. Desoyer, P. Kopacek und 1. Troch
University of Technology, Vienna, Austria
Abstract: This paper is divided in industrial applications and research at universities and research
institutions. According to the last statistics at the end of 1992 approximately 1750 robots were in use in
Austria. In the paper a short overview on the research on robotics is given. There are two main directions:
More theoretical oriented research in the field of kinematics, kinetics, path planning and control and research
mainly emphasized to applications mainly in small and medium sized companies. In the last time research is
done in the direction of application of methods of artificial intelligence in form of expert or knowledge based
systems as well as in fuzzy control and neuronal networks related to the field of robotics.
1. Robot statistics (Moos, 1991)
In Austria approximately 20 companies dealing with robots or robotic systems are on the mar
ket. In 1989 robots to the value of 300 Mio ATS were installed new in our country and 872
industrial robots were in use in Austrian companies. At the end of 1991 this number increased
to 1465 and at the end of 1992 to approximately 1750. Therefore Austria is one of the coun
tries with the highest growing rates according to the long term estimations because most of the
other countries have smaller growing rates.
An usual characteristic number for the "robotization" of the industry of a distinct country is the
number of robots for 10000 employees in this country. This number has increased from 3.4 in
1986 to 7.5 in 1989 and to approximately 10.0 today. One of the reasons for this untypical
behaviour in comparison with other countries is the structure of the Austrian industry. The
Austrian industry is mainly dominated by small and medium sized companies. These companies
started the introduction of industrial robots relatively late -approximately 1984. Today 2 % of
the industrial robots are installed in small companies (less than 20 employees); 49 % in medium
sized companies (less than 500 employees).
The main application field of industrial robots in Austria is welding (22 %) and not spot wel
ding (only 3 %) as usual in other countries. Handling operations on die-casting (17 %) and
CNC machine tools (IS %) are also relevant application fields. Remarkable growing rates are
obtained for assembly, palettizing, jet cutting, research and education applications. Today 35
industrial robots are installed on Universities and other research institutions.
2. Robotic research
As pointed out earlier the Austrian industry is mainly dominated by small and medium sized
companies. Therefore robotic research on universities as well as research institutes have to be
oriented mainly to industry. Because of the size of Austria these institutes are usually very
small in comparison with other countries. We have two Technical Universities (Vienna and
Graz) and one University with a Department of Technical and Natural Science (Linz). There
fore robotic research is mainly concentrated on these Universities and on Research Institute
(0FZS, Seibersdorf). The well known sentence "small is beautiful" is valid for robotic research
Description:Industrial robots as a kind of a mechatronic system were the objects for intensive scientific research in the last years. Kinematics and kinetics, advanced control algorithms, flexible robots, mobile robots, cooperation of robots were research topics. Meanwhile the industrial robot is more or less a
