ABSTRACT
Fraunhofer Institute, Manufacturing Engineering and Automation (IPA), Nobelstraße 12, D-70569 Stuttgart, Germany
List of Abbreviations 2 or 3D 2-or 3-dimensional AGV Autonomous guided vehicle CAD Computer aided design CAN Controlled Area Network CCD Charge couple device CPU Central processing unit DM Deutsche Mark DOF Degrees of Freedom DSP Digital signal processor Fig. Figure IFR International Federation of Robotics GmbH Gesellschaft mit beschränkter Haftung Hz Hertz I/O Input/output IPA Institut für Produktionstechnik und Automatisierung IR Industrial robot ISIC International Standard Industrial Classification Kg Kilogram LED Light emitting diode
M mm ms
m
SCARA SRAM TCP UN US USA V VDMA VME
PC RCC s
Meter Mega Millimeter Millisecond Personal computer Remote center compliance Second Selective Compliance Assembly Robot Arm Static random access memory Tool center point United Nations Ultra sound United States of America Volt Verein Deutscher Maschinen-und Anlagenbauer VERSAmodule Europe (VME)
5.1. INTRODUCTION
In 1994 more than 610,000 industrial robots were at work and major industrial countries reported growth rates in robot installations of more than 20% compared to the year before (Figure 1). Car, electrical and electronic industries have been the largest users of robots, their predominant applications being welding, assembly, painting and general handling tasks. Flexibility and versatility of industrial robot technology has been strongly driven by the needs generated through these industries as they account for more than 75% of the world’s installation numbers.1
