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Author:Auvinen, Esko
Title:Robotin offline-ohjelmoinnin oppimisympäristö
Creating a learning environment for the off-line programming of a robot
Publication type:Master's thesis
Publication year:2010
Pages:124      Language:   fin
Department/School:Insinööritieteiden ja arkkitehtuurin tiedekunta
Main subject:Tuotantotekniikka   (Kon-15)
Supervisor:Aaltonen, Kalevi
Instructor:Kyrenius, Pekka
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto     | Archive
Keywords:off-line programming
robotics
xml
xslt
simulation
offline-ohjelmointi
etäohjelmointi
robotiikka
xml
xslt
simulointi
Abstract (eng):The objective of this Master's thesis was to design and implement a learning environment for the purposes of off-line programming of a robot (GMFanuc S 10 R-H Karel) in the production engineering laboratory of Aalto University's School of Science and Technology. In addition to the robot and the gripper, the laboratory's robot cell contains a stationary work bench with cylinder-shaped holes and thereto compatible work pieces. Since the laboratory has licenses for using Dassault Systemes' Delmia software it is possible to create a 3 D model of the robot cell as well as to define robot tasks that can be simulated of the basis of a virtual kinematic model of the laboratory' s robot which is included in Delmia' s catalogue. Delmia software also provides translators for dozens of native languages of robots excluding, however, the laboratory robot's Karel language.

In the robot cell, the most important positions of the robot tasks were measured in relation to the robot's base frame. The measurement results were verified by creating a test program in Karel language that was run on the robot. The testing showed that the measurements were correct.

Thereafter a robot cell model was created in accordance with the measurements and based on the created robot cell a comprehensive robot task was defined in order to perfectly carry out the verification and validation. The verification was carried out by simply simulating the robot task which was defined by using Delmia software. The software then produces an xml document in machine-readable form representing the task structurally so that any of the robot' s actions can be easily identified and selected from the xml document.

For the translator, an xslt style sheet, including instructions for the printing in Karel language, was created. By using the finished xslt style sheet and the xml document Delmia's Java program produces and prints out a Karel language program from the robot task. The above mentioned comprehensive robot task was translated into Karel language. The obtained program was run and tested with the robot. It was noted that the program performs correctly and that the robot cell model is valid.

Finally, detailed working instructions showing how to define robot tasks and how to translate them into Karel language were prepared for the students' use. The designed and implemented learning environment enables quick and efficient learning outcomes with regards to off-line programming. The objective of the Master's thesis has therefore been accomplished.
Abstract (fin):Diplomityön tavoitteena oli suunnitella ja toteuttaa Aalto-yliopiston teknillisen korkeakoulun tuotantotekniikan laboratorion robotin (GMFanuc S 10 R-H Karel) offline -ohjelmoinnin oppimisympäristö. Laboratorion robottisolu sisältää robotin ja tarttujan lisäksi robottitehtäviä varten työpöydän, jossa on sylinterimäisiä reikiä sekä niihin sopivia työkappaleita.

Laboratoriolla on Dassault Systemesin Delmia-ohjelmiston lisenssejä. Delmialla voidaan tehdä kolmiulotteinen malli robottisolusta sekä määritellä robottitehtäviä, joita voidaan myös simuloida, koska Delmia sisältää laboratorion robotin virtuaalisen kinemaattisen mallin. Delmiassa on myös valmiit kääntäjät kymmenille robottien natiivikielille, ei kuitenkaan laboratorion robotin käyttämälle Karel-kielelle.

Robottisolussa mitattiin robottitehtävien kannalta tärkeiden pisteiden paikat robotin peruskoordinaatiston suhteen. Mittaustulosten oikeellisuus tarkastettiin laatimalla robotille Karel-kielinen testausohjelma. Testaus osoitti mittaustulosten olleen oikeita.

Sitten Delmialla tehtiin mittausten mukainen robottisolun malli, jonka perusteella määriteltiin laaja robottitehtävä, jotta verifiointi ja validointi voitaisiin tehdä täydellisesti. Verifiointi suoritettiin yksinkertaisesti simuloimalla robottitehtävä.

Delmialla määritellystä robottitehtävästä saadaan tuloksena xml-dokumentti, joka kuvaa tehtävän rakenteisena niin, että mikä hyvänsä robotin toimenpide voidaan poimia xml -dokumentistä koneellisesti.

Kääntäjää varten laadittiin xslt -tyylitiedostoon ohjeet tietojen poimimiseksi xml-dokumentista ja Karel-kielisen ohjelman tulostamiseksi. Valmista xslt -tyylitiedostoa sekä xml-dokumenttia käyttäen Delmiassa oleva Java-ohjelma tuottaa robottitehtävästä Karel -kielisen ohjelman.

Yllä mainittu laaja robottitehtävä käännettiin Karel-kielelle. Saatu ohjelma ajettiin ja testattiin robotilla. Ohjelman todettiin toimivan oikein ja myös robottisolumalli todettiin validiksi.

Opiskelijoiden harjoitustehtävän suorittamisen helpottamiseksi laadittiin yksityiskohtaiset työohjeet siitä, miten robottitehtävä määritellään ja käännetään Karel-kielelle. Toteutettu oppimisympäristö mahdollistaa nopean offline -ohjelmoinnin perusteiden oppimisen. Diplomityön tavoite siis saavutettiin.
ED:2011-01-10
INSSI record number: 41478
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