International Workshop on Robotic Welding Systems and Process Monitoring

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Robotic Welding
System Issues
J. Norberto Pires Mechanical Engineering Department University of Coimbra – Portugal norberto@robotics.dem.uc.pt robotics.dem.uc.pt/norberto/

Welding 2001, International Workshop on Robotic Welding Systems and Process Monitoring, Portugal

Outline
1. 2. 3. 4. 5. 6. 7. 8. 9. Robot Technology State of the Art Robot environment and Driving Forces to Automation Difficulties in Automation Improvements needed in the near future. Welding Application - Overview Software architecture Remote Services Adding equipment Conclusions

Welding 2001, International Workshop on Robotic Welding Systems and Process Monitoring, Portugal

Brief History
Robotics was part of the thoughts of many of the great thinkers of common history. From all of them we select: Ctesibius (270 BC) ⇒ the Greeks and the Arabians Leonardo da Vinci (1452-1519) Nicola Tesla (1845-1943)

Welding 2001, International Workshop on Robotic Welding Systems and Process Monitoring, Portugal

Ctesibius the Greeks and the Arabians
Briefly, the first works on robotics may be traced back until 270 BC, in the ancient Greece, to the water clocks with mobile figures designed by the Civil Engineer Ctesibius. His work was followed by Phylo of Byzantium (author of the marvellous book “Mechanical Collection”, 200 BC), Hero of Alexandria (85 BC) and Marcus Vitruvius (25 BC). Several hundred years later, the Arabians documented (the three Banu Musa working for the Kalifa of Baghdad, 786-833 AC) and developed (Badías-Zaman Isma’Il bin ar-Razzaz al-Jazari in the book “The science of the Ingenious Devices”, 1150-1220 AC) the Greek designs to be used on their own creations. Welding 2001, International Workshop on Robotic Welding Systems and Process Monitoring, Portugal

Leonardo
Leonardo Da Vinci also spent some time on robotics, when he was working for the Sforza family. By the same time he painted “The last supper”, he was also involved with building the “Salle delle Asse” of the Sforza Castle, where he planned to put a human-like robot in the form of a XV century knight. Somehow, the plans and drawings were never found, although some pages of his famous book “Codex Atlanticus” are missing precisely in the point where it seams that he was preparing the robot project.

Welding 2001, International Workshop on Robotic Welding Systems and Process Monitoring, Portugal

Nicola Tesla
Nicola Tesla did another outstanding contribution to robotics, in the turn to our century. He was thinking about automatons and how he could command them or “embody” intelligence on them. At the time, there was a German scientist (Hertz) claiming that an electromagnetic excitation generates radiation of the same type that can be detected far from the excitation. Tesla thought about using this to command an automaton: the term “teleautomatics” appeared. In its own words: “… But this element I could easily embody in it by conveying to it my own intelligence, my own understanding. So this invention was evolved, and so a new art came into existence, for which the name “teleautomatics” has been suggested, which means the art of controlling movements and operations of distant automatons.” Industry Academia

Welding 2001, International Workshop on Robotic Welding Systems and Process Monitoring, Portugal

f the ots o re b e a a l ro es Th ustri ... s ay ind ill rd yw ou the w Ho lve? o ev

Technical Mile Stones
• • • • • • • • • • ’74: ’74: ’82: ’82: ’82: ’82: ’84: ’86: ’86: ’90: Electrical Drive Train Microprocessor Control Cartesian Interpolation Computer Communication Joy-stick Menu Programming Vision Guidance Digital Control Loops AC Drives Networking • • • • • • • • • ’91: ’94: ’94: ’94: ’94: ’96: ’98: ’98: ’98: Digital Torque Control Full Dynamic Model Windows Interface Virtual Robot Fieldbus I/O Co-operating Robots Collision Detection Load Identification Fast Pick & Place

Source: ABB Robotics

Robotics State of Art
1. 2. 3. 4. Position and...
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