Information system structure for a task level robot assembly language for on-line program generation

Abstract The increasing industrial need for production automation in one of a kind production and increasing demand for one of a kind or small batch production requires that automation is carried out by programmable automatic equipment in order to ensure that this equipment can be rapidly and easily adjusted and configured to the ever changing production tasks. In order that the adjustment and reconfiguration of the production equipment can be carried out quickly, reliably and in compatibility with the state of the production plant at the time of task execution it is necessary that the equipment tasks can be specified by a specification language, which is much more abstract than the task specification languages that are today commercially available for machine tool and robot programming, and that the corresponding compiler can be controlled by the system controlling the sequence of operations of the assembly plant. To comply with this need a task level robot programming language for assembly operations has been developed with a level of abstraction corresponding to the level of abstraction for the command: Mount part A. The compiler of the language retrieves information about placement and orientation of the parts to be assembled from a database. The information is supplied to the database by proper sensors mounted on the assembly plant, implying that the program which is generated corresponds to the state of the physical plant at program execution time. Additionally, making available information of permitted production assembly sequences has enabled the compiler to be controlled by a system that optimizes the sequence in which a particular assembly should be carried out respecting present availability of resources needed for the assembling tasks. In this paper the designed robot language, the corresponding compiler and the necessary information structures are presented.