The Canonical Robot Command Language (CRCL)
The Canonical Robot Command Language (CRCL)
复制标题
规范机器人命令语言 (CRCL)
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
William P. Shackleford
中科院分区：
文献类型：
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作者：
F. Proctor;S. Balakirsky;Z. Kootbally;T. Kramer;C. Schlenoff;William P. Shackleford
当使用示教和回放方法进行编程时，工业机器人可以执行亚毫米重复性的运动。虽然有效，但这种方法需要大量的前期时间，在教学阶段将机器人和人捆绑在一起。离线编程可用于生成机器人程序，但这种方法的准确性很差，除非辅以良好的校准来消除系统误差、前馈模型来预测机器人对负载的响应以及传感来补偿未建模的误差。这些增加了系统的复杂性和前期成本，但减少重复教学编程时间的回报是值得的。这种回报尤其有利于中小型企业典型的小批量、短周转应用程序，这些企业需要离线应用程序开发提供的敏捷性，才能与低成本的体力劳动竞争。为了充分受益于这种敏捷的应用程序任务分配模型，应该使用工作所需的所有资源（机器人、工具、传感器和人员）都能理解的通用任务表示形式。本文描述了一种信息模型，即规范机器人命令语言（CRCL），它提供了机器人任务以及相关控制和状态信息的高级描述。
Industrial robots can perform motion with sub-millimeter repeatability when programmed using the teach-and-playback method. While effective, this method requires significant up-front time, tying up the robot and a person during the teaching phase. Off-line programming can be used to generate robot programs, but the accuracy of this method is poor unless supplemented with good calibration to remove systematic errors, feed-forward models to anticipate robot response to loads, and sensing to compensate for unmodeled errors. These increase the complexity and up-front cost of the system, but the payback in the reduction of recurring teach programming time can be worth the effort. This payback especially benefits small-batch, short-turnaround applications typical of small-to-medium enterprises, who need the agility afforded by off-line application development to be competitive against low-cost manual labor. To fully benefit from this agile application tasking model, a common representation of tasks should be used that is understood by all of the resources required for the job: robots, tooling, sensors, and people. This paper describes an information model, the Canonical Robot Command Language (CRCL), which provides a high-level description of robot tasks and associated control and status information.