An approach to automatic robots programming in the flexible manufacturing cell

摘要

SUMMARY The paper presents an approach to automatic synthesis of program for robots in a flexible manufacturing cell (FMC). The system of program generation consists of two layers: Task-Level Programming Layer and Program Interpretation and Verification Layer . The first layer uses robot-independent planning techniques to create a work plan for robots (set of elementary actions) and program for each elementary action. The second layer uses robot-dependent planning methods to plan robot's trajectories and calculate the robot's motion times. A simulation model of whole FMC, which is created based on a description of FMC and program for robots, makes possible evaluation of efficiency of FMC work.