A. Angerer

Universität Augsburg, Augsberg, Bavaria, Germany

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Publications (12)0 Total impact

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    ABSTRACT: Today, industrial robots are usually programmed using specialised programming languages, different for every robot manufacturer. These languages provide good usability, because they are tailored to the functionality traditionally offered by robots. However, these languages are reaching their limits with the growing integration of sensors or multiple robot systems. Therefore, we propose an architecture based on the separation of application control and the execution of real-time robotic tasks. This article describes a flexible and extensible interface for the specification and continuous execution of robotic tasks.
    Int. J. of Mechatronics and Automation. 01/2014; 4(1):27 - 38.
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    ABSTRACT: Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods. In the research project SoftRobot, a software architecture was developed that enables the programming of complex real-time critical robot tasks with an object-oriented general purpose language. On top of this architecture, a graphical language was developed to ease the specification of complex robot commands, which can then be used as part of robot application workflows. This paper gives an overview about the design and implementation of this graphical language and illustrates its usefulness with some examples.
    03/2013;
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    ABSTRACT: An application program for one or even several industrial robots usually consists of a number of disjoint commands, with each command controlling the robot to perform a certain task like motions or tool interactions. Sometimes it is desirable to be able to switch from one such command to another command with time guarantees for the switching progress, e.g. for blending one motion into another. In this paper we propose an approach to achieve this with two separate commands, where the second command can be created while the first is already being executed.
    Mechatronics and Automation (ICMA), 2012 International Conference on; 01/2012
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    ABSTRACT: Due to their material properties, carbon fiber- reinforced plastics have become more and more important in aerospace industries since the 1980s. However, their efficient use is still limited by a largely manual manufacturing process. In this paper, we present a novel automation system for preforming and draping dry carbon fiber textiles into a mold. It consists of a multi-functional robot end-effector, which integrates the three essential functions gripping, draping and fixation, as well as a software solution which supports the automation of the process. Experimental results gained on industrial reference toolings show the feasibility and flexibility of the approach. I. INTRODUCTION
    IEEE Conference on Automation Science and Engineering, CASE 2011, Trieste, Italy, Aug. 24-27, 2011; 01/2011
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    ABSTRACT: During the last two decades, software development has evolved continuously into an engineering discipline with systematic use of methods and tools to model and implement software. For example, object-oriented analysis and design is structuring software models according to real-life objects of the problem domain and their relations. However, the industrial robotics domain is still dominated by old-style, imperative robot programming languages, making software development difficult and expensive. For this reason, we introduce the object-oriented Robotics Application Programming Interface (Robotics API) for developing software for industrial robotic applications. The Robotics API offers an abstract, extensible domain model and provides common functionality, which can be easily used by application developers. The advantages of the Robotics API are illustrated with an application example.
    Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on; 11/2010
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    ABSTRACT: Most commercial manufacturers of industrial robots require their robots to be programmed in a proprietary language tailored to the domain - a typical domain-specific language (DSL). However, these languages oftentimes suffer from shortcomings such as controller-specific design, limited expressiveness and a lack of extensibility. For that reason, we developed the extensible Robotics API for programming industrial robots on top of a general-purpose language. Although being a very flexible approach to programming industrial robots, a fully-fledged language can be too complex for simple tasks. Additionally, legacy support for code written in the original DSL has to be maintained. For these reasons, we present a lightweight implementation of a typical robotic DSL, the KUKA Robot Language (KRL), on top of our Robotics API. This work deals with the challenges in reverse-engineering the language and mapping its specifics to the Robotics API. We introduce two different approaches of interpreting and executing KRL programs: tree-based and bytecode-based interpretation. Comment: 1st International Workshop on Domain-Specific Languages and models for ROBotic systems
    09/2010;
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    ABSTRACT: The use of composite components in aerospace industries has become more and more important since the 1980s. Especially structures made of carbon fiber-reinforced plastic are well suited for aircrafts where highly stressable but lightweight constructions are required. However, the efficient use of this technology is still limited by a largely manual production process. To increase automation, the paper presents a completely new approach which allows the automated cutting and handling of carbon fiber textiles. This includes a detailed analysis of the current industrial process and its automation potential, the construction of a special handling tool and the development of a suitable automation software. Experimental results show the flexibility and feasibility of the approach.
    Automation Science and Engineering (CASE), 2010 IEEE Conference on; 09/2010
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    ABSTRACT: Today, most industrial robots are interfaced using text-based programming languages. These languages offer the possibility to declare robotic-specific data types, to specify simple motions, and to interact with tools and sensors via I/O operations. While tailored to the underlying robot controller, they usually only offer a fixed and controller-specific set of possible instructions. The specification of complex motions, the synchronization of cooperating robots and the advanced use of sensors is often very difficult or not even feasible. To overcome these limitations, this paper presents a generic and extensible interface for industrial robots, the Realtime Primitives Interface, as part of a larger software architecture. It allows a flexible specification of complex control instructions and can facilitate the development of sustainable robot controllers. The advantages of this approach are illustrated with several examples.
    Automation and Logistics (ICAL), 2010 IEEE International Conference on; 09/2010
  • ICINCO 2010, Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, Volume 2, Funchal, Madeira, Portugal, June 15-18, 2010; 01/2010
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    ABSTRACT: The application of industrial robots is strongly limited by the use of old-style robot programming languages. Due to these languages, the development of robotic software is a complex and expensive task requiring technical expertise and time. Hence, the use of industrial robots is often not a question of technical feasibility but of economic efficiency. This paper introduces a new architectural approach making available modern concepts of software engineering for industrial robots. The core idea is to hide the real-time critical robot control from application developers. Instead, common functionality is provided by a generic and extensible application programming interface and can be easily used. Hence, this approach can lead to an industrialization of software development for industrial robotics.
    Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on; 11/2009
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    ABSTRACT: During the last 15 years the way how software products are being developed has changed dramatically. Today, software is developed very efficiently in an industrialized manner. One of the cornerstones is that new development processes introduced a domain-centric view rather than a technology-centric view. As a result, big and complex software systems can be built very fast, reliable and according to customers' requirements. Unfortunately, these advances in software engineering have had little to no effect on the software development process for robotic applications. This paper explains how domain-centric design can be introduced in the domain of industrial robotics and which possible benefits it might yield.
    Automation and Logistics, 2009. ICAL '09. IEEE International Conference on; 09/2009
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    ABSTRACT: An important property of embedded systems is dependability. Today this addresses mostly safety and reliability. Guaranteeing these properties is normally done by adding redundancy to the system. This approach is expensive and can not cope with changing environments. Therefore new designs are researched, which allow systems to self-adapt and self-heal. For broad acceptance in industry it is important, that organic systems can be modeled and analyzed with standard modeling tools and languages. We present a case study of an adaptive production automation cell modelled in the Lustre language using the SCADE suite and the verification of functional properties. SCADE is used widely in industry, especially in safety critical applications. Being able to model and verify adaptive systems in SCADE could increase their acceptance for these target areas.
    Circuits and Systems, 2007. ISCAS 2007. IEEE International Symposium on; 06/2007