Autonomous robot programming

RinasWeld

RinasWeld is the offline software package for autonomous programming for welding robots. It is developed by Kranendonk Production Systems BV especially for a one piece production environment for example: shipbuilding. In the recent past robots were programmed with simple software tools and detailed knowledge from the operator. Then there was no need for more advanced tools because CAD systems were 2D and steel structures were less complex. Nowadays 3D CAD systems are quite common and the possibilities are still expanding. Also the amount of information which can be stored in a 3D model is enormous.

Offline robot programming

Because robots are a considerable investment the need to program them offline has become more eminent. Offline programming means that while the robot is working the work preparation department is making the robot programs, by doing so downtime can be minimized and continuous production can be achieved.

Complex products vs. collision avoidance

Complexity of the products, double hull structures, makes it for the programmer harder to create the correct robot programs. Because of the increased product complexity the possibility for collisions between robot and product is increasing. Therefore collision avoidance is a major aspect in automatic robot programming. When more robots are working on the same work piece the division of the workload over the robots adds an extra complexity factor to program generation. Because of the growing complexity the need came for more advanced tools which resulted in RinasWeld.

RinasWeld features

RinasWeld combines several unique features into one software package,
some of the features are:

• Makes one piece production possible
• Support of various 3D CAD systems
• 3D CAD model editing facilities
• Task subdivision and distribution in multi robot systems
• Automatic generation of collision free robot programs
• Automatic generation of process information (weld data)
• Interactive feedback after generation process
• Rule-based sequences, open to the end-user
• Editing facility for moving patterns (scripts)
• Tolerance settings to limit deviations from optimal conditions
• Seam position sensing patterns and conditions
• Intelligent process sequencing and job scheduling
• Graphical simulation of generated robot programs
• Report generation of: drawings, job distribution and statistics

RinasShape is an additional software tool that offers easy and simple 3D work piece generation. If 3D product data is not available, RinasShape can create it based on the RinasWeld format. After creation of the 3D model it can be imported into RinasWeld.

 Rinasweld brochure 1.76 Mb

Model based programming

The programming of robots can be done at various levels, from learning by teach-in to completely automatic. With RinasWeld the robot programs are being generated fully automatic. The operator is operating the system and not making robot programs, this is being done by RinasWeld, fully autonomous. The robot programs are being generated based on the four models in RinasWeld. The models are:

• robot model
• strategy model
• process model
• ‘collision avoidance’ model

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Autonomous production

RinasWeld imports the 3D CAD model of the product. Based on the various models in RinasWeld the work piece will go through several processing stages before the robot programs are generated. Together with the ‘collision avoidance’ model the system takes care of the collision free robot program generation. Generation is being done based on so called ‘rule-sets’ which can be defined and modified by the end-user. The RinasWeld system is open to the end-user which allows the accumulation of knowledge into the system. This way RinasWeld becomes a dynamic system which will become more and wider applicable through the years.

One piece production

With the model based data RinasWeld has great flexibility and means to adapt itself. Based on the described models it is possible to realize one piece production; this means that every time a different product can be processed. This gives manufactures more design flexibility. Also the robots can be used more efficient which will increase the cost-effectiveness.

Maritime Innovation Award

On November 1st, 2007 the RinasWeld software package won the Maritime Innovation Award 2007. In the category ‘process innovation’ the RinasWeld system was unique in its kind. Kranendonk is very proud to have won the prestigious Maritime Innovation Award 2007. This award puts for Kranendonk the crown on a special software product.



Download the Maritime Innovation Award 2007.