Calibration and Control of a Redundant Robotic Workcell for Milling Tasks

This article deals with the tuning of a complex robotic workcell of eight joints devoted to milling tasks. It consists of a KUKA (TM) manipulator mounted on a linear track and synchronised with a rotary table. Prior to any machining, the additional joints require an in situ calibration in an industrial environment. For this purpose, a novel planar calibration method is developed to estimate the external joint configuration parameters by means of a laser displacement sensor and avoiding direct contact with the pattern. Moreover, a redundancy resolution scheme on the joint rate level is integrated within a computer aided manufacturing system for the complete control of the workcell during the path tracking of a milling task. Finally, the whole system is tested in the prototyping of an orographic model.Andres De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, J. (2011). Calibration and Control of a Redundant Robotic Workcell for Milling Tasks. International Journal of Computer Integrated Manufacturing. 24(6):561-573. doi:10.1080/0951192X.2011.566284S56157324

The automotive CASE

The increasing functionality and complexity of modern automotive embedded systems demand new ways of mastering their intricacies. The standard response to this challenge is the use of abstractions, of appropriate structuring concepts, and, related, but less important, of suitable description techniques. Such ideas materialize in CASE tools. We shed light on CASE in the context of complex embedded systems, taking into account the different activities and phases of a development process. Clearly, integrated tool support is desirable for issues as different as requirements engineering, deployment, code generation, and validation. However, this is far from being simple since different levels of abstraction need to be interrelated. For instance, the embedding of generated code into its context of models and an actual environment. We give our assessment of current and future CASE tools.

A Model-Based Certification Framework for the EnergyBus Standard

Part 2: Monitoring and TestingInternational audienceThe EnergyBus is an upcoming industrial standard for electric powertransmission and management, based on the CANopen field bus. Thispaper reviews the particularities of theEnergyBus architecture and reports on the application offormal methods and protocol engineering tools to build a model-basedconformance testing framework that is considered to become part ofthe certification process for EnergyBus-compliant products