An Integrated Approach to Model Driven Control of Robots at Placing for Assembly

Modeling of products is undergone a final stage of integration in these years. In this paper, the authors discuss an integrated modeling method for robot assembly of products as a contribution to methodology for integrated robot model systems. Advanced product modeling uses feature and associativity definitions for description of engineering related objects in part models instead of simple geometric elements. For the purpose of homogenous model definition, the authors propose replacing the conventional way of geometry based assembly path definition by form feature driven definition of paths. The proposed method is based on an integrated and homogenous model consisting of part and assembly models of assembled product and assembly robot as well as robot process model. Two contributions of the authors to integrated definition of the related models are an extension of the feature principle and definition of associativities between shape and process feature entities. They propose extension of the feature principle of part models to task oriented robot process model and model of robot. An enhanced and integrated modeling offers solution especially for the assembly of custom demanded products variants. In this paper, conventional and feature based approaches are compared. Following this, feature definitions for modeling of task oriented robot process are proposed. Finally, application of associative form features in integrated robot model is detailed, explained, and concluded.