Wyniki wyszukiwania - Biblioteka Nauki

1

Połączenie i konfiguracja sprzętowa sieci CC-Link

100%

Foit K.

|

tom R. 9, nr 9

126-127

PL

W niniejszym artykule zostanie przedstawiony sposób połączenia sieci CC-Link, począwszy od fizycznego połączenia modułów za pomocą przewodu, a na konfiguracji modułów kończąc. Podobnie jak w przypadku każdej sieci informatycznej w pierwszej kolejności należy sporządzić odpowiedni projekt i szkice. Należy przy tym mieć na uwadze maksymalną dopuszczalną długość przewodu sieciowego.

2

The bluetooth communication in stationary robotics

100%

Foit K.

|

tom nr 3

63--68

EN

Currently, communication via Bluetooth is the standard for mobile devices, such as mobile phones, tablets, computers, multimedia devices, etc. The development of mobile robotics has also contributed to the use of this type of communication in the areas of industrial applications. So far, there are few reports of the use of Bluetooth in the field of stationary robotics. This paper discusses the applicability of this type of communication in the stationary robotics, along with some proposed solutions.

3

Remote programming of the Mitsubishi Movemaster robot by using the web-based interface

100%

Foit K.

|

tom Vol. 31, nr 2

639-645

EN

Purpose: The aim of this paper is to present a prototype of web-based programming interface for the Mitsubishi Movemaster RV-M1 robot. Design/methodology/approach: The web techniques have been selected due to modularity of this solution and possibility of use the existing code fragments for elaborating new applications. The previous papers [11-14] have presented the off-line, remote programming system for the RV-M1 robot. The general idea of this system is a base for developing a web-based programming interface. Findings: The prototype of the system has been developed. Research limitations/implications: The presented system is in the early development stage and there is a lack of some functions. In the future a visualisation module will be elaborated and the trajectory translator intended to co-operate with CAD software will be included. Practical implications: The previous version of the system has been intended for educational purposes. It is planned that new version will be more flexible and it will have the possibility of being adapted for other devices, like small PLC's or other robots. Originality/value: Remote supervision of machines during a manufacturing process is an actual issue. Most of automation systems manufacturers produce supervising software for their PLC's and robots. The Movemaster RV-M1 robot is an old model and is lack of the high-tech software. On the other hand, the programming and development of applications for this robot are very easy. The aim of the presented project is to develop a flexible, remote-programming environment.

4

Introduction to solving task-level programming problems in logic programming language

100%

Foit K.

|

tom Vol. 64, nr 2

78--84

EN

Purpose: This paper illustrates one of the possibilities of using logic programming language to process task-level description of robot’s program. The goal of such programming method is to achieve almost the same abstract level in human-machine communication as in human-to-human communication. Design/methodology/approach: The task-level programming is very different from trajectory planning, although some algorithms from this field are used in subsequent stage of detailing of the program. At a higher level we only define the proper sequence of actions. This could be also done using logic processing languages (e.g. Prolog). Findings: The approach shown in the paper allows to solve manipulation tasks at high level (the sequence of actions), but does not cover all the problems connected with manipulator movements like avoiding collisions or detailed description of the motion. Practical implications: Due being immature, the mentioned method is not applicable in real world, but could be used as a base of further research. Originality/value: Task-level programming and problem solving is a very current field of research and experiments in robotics. It is also in very early stage, so most of methods have only scientific mean, without wide application in the industry.

5

Czy wiesz, czym jest CC-Link?

100%

Foit K.

|

tom R. 9, nr 6

40-41

PL

Ciągły rozwój sieci przemysłowych prowadzi do zwiększenia ich niezawodności i przepustowości. Niektóre standardy stają się otwarte dla szerokiego grona producentów sprzętu, umacniając tym samym swoją pozycję na rynku. Najbardziej znanym otwartym standardem jest OpenCAN. Kilka lat później do tego grona dołączył również CC-Link. Standard sieci CC-Link został opracowany przez Mitsubishi Electric. Obecnie rozwój protokołu i czuwanie nad kompatybilnością urządzeń jest zadaniem CC-Link Partner Association (CLPA), organizacji zrzeszającej przeszło 700 partnerów.

6

The off-line programming and simulation software for the Mitsubishi Movemaster RV-M1 robot

51%

Świder J. , Foit K. , Wszołek G. , Mastrowski D.

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tom Vol. 20, nr 1-2

499-502

EN

Purpose: Contemporary robotics requires modern instruments for programming, control and supervising of robot's work. It becomes necessary to strict adjust the robot in its working environment after tests on a virtual model of the robot and its surroundings. The aim of present work is a presentation of preliminary version of the system for off-line programming, simulation and remote supervision of the Mitsubishi Movemaster RV-M1 robot. Design/methodology/approach: The robot installed in institute's laboratory has been used in research work. Attention has been focused on creating of universal software, which could be developed in the future. Findings: In result of carried work a first version of the software has been developed. It has network oriented modular structure. Research limitations/implications: The code of the software has been developed in high level programming in such manner, that allows further translation and transfer to the other system platform. Far-reaching plans include creation of universal form of the software, which could be applied to majority of system platforms and can operate with different types of robots. Practical implications: Created software has presently didactic character and it is used during conduction of laboratory classes. Originality/value: Conducted works have in view a creation of universal and modular software. Existing commercial solutions are usually dedicated to a concrete type of robot.

7

Automatyczne programowanie i wizualizacja 3D ruchów robota Mitsubishi Movemaster RV-M1

51%

Foit K. , Kost G. G. , Reclik D.

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tom z. 175, t. 2

583-592

PL

Omawiana w niniejszej pracy aplikacja PLANER jest praktyczną implementacją metody planowania ruchu manipulatorów robotów. Wyznaczanie bezpiecznych trajektorii ruchu odbywa się z zastosowaniem metody 2 1/2 D, której podstawą działania jest płaska analiza kolejnych przekrojów sceny robota. Opracowana aplikacja umożliwia przeprowadzenie interpolacji ścieżki ruchu z wykorzystaniem krzywych B-Spline, i ocenę wyników obliczeń poprzez graficzną prezentację rezultatów z wykorzystaniem grafiki OpenGL. Program przystosowano do współpracy z robotem Mitsubishi Movemaster RV-M1, umożliwiając przekształcenie wygenerowanej ścieżki na program robota, realizujący zadaną trajektorię. Testy przeprowadzono zarówno na modelu wirtualnym (w programie Robbo) jak i na rzeczywistym robocie serii RV-M1.

EN

The application discussed in this paper is a practical implementation of of robot's manipulalor motion planning method. The determination of safe trajectories is done using 2 1/2 D method, which is the basis of further analysis of the flat sections of the robot's scene. The developed application allows to perform a motion path interpolation using B-Spline curves, and valuation of the results of calculations by the graphical presentation of the results using the OpenGL graphics library. The program is adapted for cooperation with the Mitsubishi Movemaster RV-M1 robot, allowing the conversion of the generated path to a robot's program in order to realize the given trajectory. The tests were conducted on both: the virtual model (in the Robbo application) and the real robot.

8

Vibration analysis of mechanical systems with utilisation of GRAFSIM and CATGEN software

45%

Świder J. , Wszołek G. , Foit K. , Michalski P. , Jendrysik S.

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2007

|

tom Vol. 23, nr 1

23-30

EN

Purpose: The paper describes the method and corresponding software used for modelling and vibration analysis of mechanical systems. As an example the study on the modelling of a vibrating system in a form of a passenger car was discussed with determination of the characteristics describing its vibrations and resonance zones. Design/methodology/approach: The software described in the article uses the matrix hybrid graphs method and matrix block diagrams method for making analysis of mechanical systems vibrations. For numerical calculations the system is represented in the form as a matrix block diagram, and is analysed in detailed way in the Matlab-SIMULINK environment. Findings: Numerical software packages give possibility to analyse vibrations of mechanical systems or of their parts exposed to kinematic and dynamic excitations. Research limitations/implications: Time responses of the vibrations of the passenger car system model evoked by various types of excitations are presented, as well as the amplitude-frequency -phase characteristics (a-f-p). Originality/value: The paper constitutes the source of information into the theory and practice of mechanical vibrations as well as professional computer software as a tool enabling the determination of the time responses and the a-f-p characteristics of machine and equipment parts.