1 1 SIARAS (FP6-017146) Task and Skills of Optical Sensors v1.1 part:7 This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling. in volts 1 SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 4 Create wholes and increase the fitting quality. SIARAS Detaching an end-effector from a robot (opposite to Attach) in Newton How to connect a tool electrically. in kg Introdution to Robotics (Analysis, System, Applications) Saeed B. Niku in volts in mm SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 For the identifier there are two applications in the later implementation: 1. Identifier of either a device or a workpiece. 2. Reference to device identifier or a workpiece identifier as a link, e.g. a URI. Primitive tool, such as a drill Everything else which cannot be sorted in one of the other categories. Create a superset from subsets. The size of source and target sets does not necessarily have to be defined. Bolts are removable elements to create a connection between two or more workpieces. Increase the surface performance, flatten the surface. Smooth finishing of metallic surfaces, mostly wholes to increase size, shape or surface performance. Capability of replaying preteached sequences and commands. This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence. Capability of setting up movements via numerical positions instead of functions. SIARAS (FP6-017146) Task and Skills of Optical Sensors v1.1 part:7 The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing. SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 4 SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:11 Tasks and Skills of Ocptical Sensor 1.1 Cap: 3 Diameter in mm. Put colour or any other material onto the surface, either by spraying or painting. Divide a workpiece into two parts. The workpiece is heated, the whole profile is plasticised. In doing so the crystal structure of the workpiece changes and the workpiece becomes softer. In mm. in mm Save workpieces which are geometrically defined in a well-defined position and/or orientation. This means position and orientation are only defined in some of their degrees of freedom. Set specific material properties by heating, holding the heat for a specific time and cooling down. SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Tasks and Skills of Ocptical Sensor 1.1 Cap: 2-5 From fluid metallic material a solid workpiece is created. SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 2 By using powder material, a workpiece is formed. By heating the workpiece is hardened by avoiding a fluid phase. Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates. in seconds Save workpieces which are geometrically defined in a well-defined position and/or orientation. SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 5 Can be inside or outside. in mm in mm Change the shape of a sheet metal or plate by pressing into a hollow piece. This is one of the most important procedures in mass production and small series production. Create a subset from a superset. The size of source and target sets does not necessarily have to be defined. in seconds Move translationally a part along a straight line. The part's orientiation remains unchanged. SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 2 Machine finishing after e.g. folding Fill a workpiece with a cubic capacity. Influence the mechanical stresses of the workpiece. The material is given a regular structure. The tool moves over the workpiece to remove chipping. The tool is fed in a linear motion over the workpiece while the tool is rotating. Move a part from an undefined to a well-defined orientation. The part's position is not important here. Connect workpieces with the help of a deformed, cylindrical connection element. in mm This is mainly used to create profiles, tubes and wires. This is the standard industrial robot-type with usually 5 to 7 joints. Create channel-shaped deepenings which are meant to increase the stiffness. Flatten surfaces while keeping very low tolerances. Moveable, rolling grains are used between the lapping plate and the workpiece. SIARAS (FP6-017146) Task and Skills of Optical Sensors v1.1 part:7 Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part. SIARAS (FP6-017146) Task and Skills of Optical Sensors v1.1 part:7 Cut a contour with the help of a laser, a plasma cutter or a cutting torch. SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 (Breakdown of Skills) Put the material to the surface with the help of some electrochemical processes. This subclass contains devices which are supposed to move a workpiece, but which are not a robot. An example is a conveyor belt. SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Invert the grasping. SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Check if a part fulfils given conditions. From a formless material a workpiece is created. The original material can be in either form like gaseous, vaporous, fluid, solid (powderous, grainy), papescent, paste-like, ... The tool performs a cutting movement and a reverse movement. SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 (Breakdown of Skills) Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces. The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece. This includes calculating up functions for setting positions and trajectories. distanceMeasurements.pdf SICK pag 4 Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined. Move a part from an undefined to a well-defined position. The part's orientation is not important here. This is the creation of a long-term connection of workpieces with a geometrically defined, fixed shape or with formless-parts. The workpiece turns on a lathe. The cutting movement is performed by its turning movement. The tool is fixed and removes chips from the workpiece. Usually only rotation-symmetric workpieces are handled here. SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 5 SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Gather a value as a multiple of a reference value. Special kinematic arrangement like the one built in SMErobot. SIARAS (FP6-017146) Task and Skills of Optical Sensors v1.1 part:7 Save workpieces which are geometrically defined in an undefined position and orientation. in mm In mm. SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:6-7 (breakdown of properties) SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Max drill bit size in mm in kg A spark removes material from the workpiece. in Kilohertz Put a bending moment to the material which causes a malleable, i.e. permanent deformation. SIARAS: Attaching an end effector to a robot (opposite to Detach) Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels. A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials. in kVA distanceMeasurements.pdf SICK pag 4 Modify the workpiece by breaking the coherence at some location. Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines. Sometimes, the tool is already included in the robot, e.g. a gripper is already connected. Put a permanent layer of formless material onto the workpiece. Superclass for the different types of signals Create a circular whole in the workpiece. SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 2 Move a part from one to another orientation by turning it around an axis which intersects with the part. The workpiece is fixed while a metal plate performs a cutting movement and a feed motion. This is done manually very often. in euros SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 3 SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 2 This attribute indicates whether the property is supposed to be provided each time a skill is invoked or just once. Represents any kind of computer-based controller; PC:s, robot controllers, PLC, ... Should it be subclassed? SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 (Breakdown of Skills) SIARAS (FP6-017146) Task and Skills of Optical Sensors v1.1 part:7 This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material). Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same. How to connect a tool mechanically. This includes the size and is dependent on the Payload. Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt. Very precise kinematic, but small working area. This is used for special applications. in mm Improve the mechanical resistivity by modifying the crystal structure. This is done by heating and fast cooling down. in amperes SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Keep a workpiece temporarily in a given position and orientation. in kg SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 (Breakdown of Skills) in mm in degrees celsius Putting together two workpieces. Modify some physical properties of the workpiece. These machines move along the cartesian axes, i.e. they don't have revolute joints. Sometimes, there is a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads. Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged. 2 Move a part from an undefined to a well-defined orientation and position. This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded. SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 7 SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:8 This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape. This is mainly used for wooden workpieces to remove chipping from the workpiece. Combine subflows of material to a superflow. This is basically the world. distanceMeasurements.pdf SICK pag 4 Create a subset of a defined size from a superset. Separating is a special case of parting with size 1. Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high. How to connect a tool to a robot. A metallic layer is put onto the workpieces by putting them into a smelter. This is mainly done to reduce corrosion. Create subsets of defined size or amount and move these subsets to a defined location. Divide a material flow into subflows. in degrees celsius Relative change of length by pressure force. Move a part from one to another position along a given trajectory. The part's orientation is given at each point of the trajectory. in mm Used to model compound devices. The main device (such as a robot) may be attached to a tool (such as a gripper). SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 (Breakdown of Skills) This will be used for referencing devices in the later implementation, e.g. as a URI. To use an ordered list, according to the FAQ, rdf:List has to be added in Range (cf. http://protege.stanford.edu/doc/owl-faq.html#ordered). But it does not work so far. VG_SIARAS 0 20.0 Silicon SI 55+-5 M5 Outside 4.7 Schmalz_FSGA_20_SI-55_M5-AG Schmalz_FSGPL_200_NBR-55_G1-2-IG 200.0 Inside Perbunan NBR 55+-5 850.0 G1/2" LEDwhite 0.0050 0.01 0.1 0.026 20.0 1 20.4 15.0 LaserRed 1.6 51.0 0 Staeubli_RS80 30 4 Electric Staeubli_RS40B 0.01 4 40.5 2.0 400 5.0E-5 -10.0 0.04 65 0.5 50.0 Bosch_GBM_13_RE 13 4.5 Drill_SIARAS 0.0030 0.0 1.0 Fast Ethernet 43.0 1000 0.0125 LEDblue open collector NPN 0.0015x0.0065 28.8 LEDgreen 5.0E-4 Connector M12, 4 Pins 700.0 10.0 Sick_WT18-3P430 60.0 LEDred 7.0E-4 0.6 0.04 0.015 0.04 -40.0 0.05 20.0 0.0 Sick_WSWE18-3P430 0.45 0.055 Sick_CSM1-N1114 0.011 19.2 0.035 1500.0 LEDinfrared Sick_MLG2-0280F511 0.0030 5.0 0.2 -25.0 15.0 Connector M12, 5 Pins 0.004x0.002 Sick_CS81-P1112 0.4 0.08 SmartCamera_24 800x600 120.0 53.0 0.3 0.25 0.06 RS232 50.0 30.4 66.25 0.5 0.4 30.0 60.0 640x480 yes 0.1 Connector M12, 8 Pins 55.0 RS485 161.0 2000 SmartCamera_20 SmartCamera_22 1024x768 12.0 40.0 LEDwhite 0.24 50x60 208x238 0.0050 Sick_CVS2-P112 0.18 24.0 67 0.0030 4...20 mA Sick_DT10-P10B5 0.02 0.02 1.2 0.4 4.5 80.0 20.0 0.01 20.4 0.026 6000 1 180.0 ID-LaserScanner2D 27.6 70.0 LaserRed 1.6 Sick_DME5000-112 Profibus 0.15 5.0E-4 0.0020 0.13 2 18.0 1000.0 0.03 Sick_WL18-3P430 open collector PNP 0.004x0.0008 1.0E-5 Sick_KT10-2P1115 0.01 25000.0 0.0012x0.0042 10000.0 Sick_KT5W_2P1116D 0.13 55.0 3.0E-4 0.002x0.006 UV Sick_LUT3-610 30.0 Polycarbonat 80.0 Sensopart_FL64C 9.0E-4 LED 12.0 26.4 5.0 800 Bosch_GBM_13_RE_Heavy Bosch_GBM_10_RE 9 1 18.0 70.0 800x600 0.05 0.015 0.04 LEDred Connector M12, 4 Pins 30.0 0.0125 0.004x0.002 0.08 LEDblue 0.0012x0.0042 10000.0 90.0 0.14 2 985.0 600.0 5.0 6 ABB_IRB-4400 Electric Circular motion in a planar area. 0 ID_IPA_AMMS_FilterOrientator Turn a workpiece by 90 degrees cw. or ccw. Device to orient a polarisation filter in the right direction. This device is used in IPA's Advanced Modular Microproduction System. in degrees celsius 0.0 Pick operation for IPA-2DOF Picker from AMMS. Operation consists of MoveFront, MoveDown, Grasp, MoveUp. 2 40.0 IPA_AMMS_SimpleGripper-2DOF-Turnable ID of the IPA AMMS simple gripper with 2 DOF, but turnable by 90 degrees. Fast Ethernet Pneumatic actuation. pneumatic in degrees celsius 50.0 IPA_AMMS_Carrier-2DOF 230 210 Karthesian motion in a planar area. Collision-free motion in a planar area. This is a carrier of IPA's Advanced Modular Microproduction System. It can move around freely in two dimensions. 1960 0.1 6 45.0 2.0 5.0 0.038 Schunk_MPG_20 1 0.02 0.03 30 0.14 0.03 98.0 40.5 0.04 51.0 24.0 0.4 0.13 0.01 55.0 Sick_KT5W_2P1116D 5.0E-5 open collector PNP Sick_CS81-P1112 -10.0 3.0E-4 12.0 open collector NPN 1500.0 0.06 0.002x0.006 UV Sick_LUT3-610 1.0E-5 Sick_KT10-2P1115 25000.0 0.004x0.0008 LEDgreen 28.8 0.0015x0.0065 0.035 0.011 Sick_CSM1-N1114 19.2 5.0E-4 0.055 0.0 -40.0 0.45 Sick_WSWE18-3P430 20.0 60.0 5.0 0.04 Sick_WL18-3P430 0.03 0.6 700.0 7.0E-4 Sick_WT18-3P430 10.0 Sensopart_FL64C 9.0E-4 LED Polycarbonat 66.25 12.0 26.4 53.0 80.0 43.0 0.25 VisionComponents-VC4465 120.0 30.4 5000 50.0 RS232 0.3 5.0E-4 0.13 0.0020 Sick_DME5000-112 2 Profibus 0.15 1000.0 1.2 Sick_DT10-P10B5 0.4 0.02 4...20 mA 0.02 0.0030 0.0030 -25.0 Connector M12, 5 Pins 0.0030 LEDinfrared Sick_MLG2-0280F511 0.2 65 80.0 0.01 Sick_LMS200-30106 0.5 180.0 27.6 0.4 30.0 4000 0.5 1.0 Sick_IVC-2DM1122 RS485 1024x768 Connector M12, 8 Pins 161.0 60.0 55.0 3000 Sick_IVC-2DM1111 640x480 yes 4.5 460.0 ABB_IRB-140 810 200.0 AngleGripper 25.0 ABB_IRB-2400 1280 30 15 CLOOS_R320 205 450 -15.0 3 2100 350 2500 10 CLOOS_R410 45.0 2215 CLOOS_R350 4 800 Staeubli_RS80 2.0 Staeubli_RS40B 4 400 0.01 0.6 1.0 67 50x60 0.18 16 16 ABB_IRC5 dig328 0.24 Sick_CVS2-P112 208x238 24.0 IPA_AMMS_SimpleGripper-2DOF IPA-2DOF Picker from AMMS. 2DOF-Gripper of the IPA AMMS Demonstrator. 10 8 DrillBit_HSS_8mm DrillBit_Alu_8mm DrillBit_Alu_10mm DrillBit_HSS_10mm -20.0 elastic multiple joints ID_ABB_IRB-140 outside inside 3 10 5.0 810 CLOOS_R320 450 350 1960 hydraulic pneumatic electric 4.0 5.0 7.0 6.5 2.5 2.0 5.5 4.5 6.0 3.5 3.0 Zinc Pressure Casting 6 ID_ABB_IRB-4400 joint tool world 2215 torque ball-screw harmonic gears chains belts 985.0 45.0 2100 carthesian cylindrical spherical scara articulated CLOOS_R350 0.03 205 15 600.0 CLOOS_R410 200.0 9 4.5 pneumatic hydraulic electric outside inside 45.0 2500 0.1 3 4 5 2 -15.0 35.0 venturi nozzle vacuum pump blower