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Title: Object-oriented and distributed approach for programming robotic manufacturing cells
Authors: Silva, Joaquim Norberto Cardoso Pires da 
Sá da Costa, J. M. G. 
Keywords: Robotics; Object-oriented programming; Flexible manufacturing systems; Flexible manufacturing cells and CIM
Issue Date: 2000
Citation: Robotics and Computer-Integrated Manufacturing. 16:1 (2000) 29-42
Abstract: Flexible manufacturing systems (FMS) are essential for small/medium batch and job shop manufacturing. These types of production systems are used to manufacture a considerable variety of products with medium/small production volumes. Therefore, the manufacturing platforms supporting these types of production must be flexible and organized in flexible manufacturing cells (FMC). Programming FMCs remains a difficult task and is an actual area of research and development. This paper reports an object-oriented approach developed for FMC programming. The work presented was first thought for application in industrial robot manipulators, and later extended to other FMC equipments just by putting the underlying ideas in a general framework. Initially, the motivation for this work was to develop means to add force control to a standard industrial robot manipulator. This problem requires remote access to the robot controller, remote programming and monitoring, as also is required to program and monitor any other FMC equipment. The proposed approach is distributed based on a client/server model and runs on Win32 platforms, i.e., Microsoft Windows and Windows NT. Implementation for the special case of industrial robot manipulators is presented, along with some application examples used for educational, research and industrial purposes.
DOI: 10.1016/S0736-5845(99)00039-3
Rights: openAccess
Appears in Collections:FCTUC Eng.Mecânica - Artigos em Revistas Internacionais

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