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Restricted. © Siemens AG 2014 All rights reserved. Smarter decisions, better products. K i n e o : Path Planning for PLM Etienne Ferré – ICRA2014
Restricted. © Siemens AG 2014 All rights reserved. Smarter decisions, better products.
K i n e o : Path Planning for PLM Etienne Ferré – ICRA2014
12/06/2014
Restricted © Siemens AG 2013 All rights reserved.
Page 2 Siemens PLM Software
Kineo History 2001-2013
• Spin-off from L.A.A.S./C.N.R.S
• Toulouse, France.
• Created January 2001
• 20 years research legacy from CNRS LAAS
• Software Components Editor
• specialized in path planning and collision
detection
• 14 people
• Over 200 customers in 30 countries
• 2012, Joins Siemens PLM Software
Toulouse 2001
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Page 3 Siemens PLM Software
PLM Component Leadership Offering open software development and interoperability
CAD, CAM, CAE and PLM applications
2D & 3D geometric constraint solvers
#1 market provider
D-Cubed
Solid modeling kernel of choice
CAD, CAM, CAE, AEC, GIS applications
>3.5M Installed base seats
Parasolid PLM XML
Product lifecycle interoperability using XML
Based on standard W3C XML schemas
3D geometry search engine
Quickly find & reuse previously designed parts
Geolus Search
Engineer-To-Order (ETO) solution
CAD neutral
Sales Quotation, Order & Manufacturing Engineering
Rulestream
Component technology for collaborative view and markup
Develop custom visualization applications
PLM Vis
Lightweight 3D file format and developer toolkit
Published ISO specification
Visualization, interoperability, archiving
JT
Kineo
Computer-aided motion simulation for part assembly and disassembly
Robotic movement and path planning optimization
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Page 4 Siemens PLM Software
Path Planning PLM Applications
TEAMCENTER | NX Requirements Management
Systems Engineering Program Management
Conceptual Design
Product Lifecycle Management
PLAN DEVELOP BUILD SUPPORT
TEAMCENTER | NX TECNOMATIX Product Design
Product Simulation Product Data Management
TEAMCENTER | NX TECNOMATIX
Manufacturing Engineering Plant Optimization
Production Planning
TEAMCENTER Sustainability
Maintenance, Repair & Overhaul
PERFECT COSTING Product Costing
LMS Mechatronic Simulation
KINEO Motion Simulation
LMS Behavioral Simulation
VISTAGY Composite Engineering
KINEO Motion Simulation
LMS Physical Testing
PERFECT COSTING Tool Costing
PERFECT COSTING Lifecycle Costing
VISTAGY Quality Planning
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Page 5 Siemens PLM Software
Piano Mover: Assembly / Disassembly
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Page 6 Siemens PLM Software
Piano Mover: Assembly / Disassembly
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Page 7 Siemens PLM Software
Customer Benefits: Cost Saving
User fails in
finding a solution
manually
User will ask to
change the design
But a solution is
found by Path
Planning
User believes a
solution exists
without testing
But the solution
does not exist in
reality
Late change in the
design
$
$$$
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Page 8 Siemens PLM Software
Piano Mover in PLM Software
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Page 9 Siemens PLM Software
Another Piano Mover: Robotic Spot Welding
Video from Kuka (youtube)
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Page 10 Siemens PLM Software
Spot Welding in Process Simulate APP
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Page 11 Siemens PLM Software
Kineo vs Human Expert
Expert Kineo
Trajectory
Creation
50 min 2 min
Nb Via points 22 19
Cycle Time 41.5 s 33 s
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Page 12 Siemens PLM Software
Travelling salesmen robots
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Page 13 Siemens PLM Software
Travelling Salesman Robot
What is the trajectory to weld the
red points ?
1. What is the order?
2. What is the trajectory
between two points
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Page 14 Siemens PLM Software
Travelling Salesman
Configuration Space
Go through all the points • in the shortest way • without collision Problem known mathematically as the Travelling Salesman Problem (TSP). How to visit all cities in the shortest way?
Wikipedia
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Page 15 Siemens PLM Software
Free Travelling Salesman
Free approach angle
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Page 16 Siemens PLM Software
Travelling Salesman
Configuration Space
θapproach
Generalized Traveling Salesman Problem (GTSP). How to visit all regions in the shortest way?
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Page 17 Siemens PLM Software
TSP solver prototype
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Page 18 Siemens PLM Software
TSP solver prototype
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Page 19 Siemens PLM Software
Another Example of Application: Visual Control
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Page 20 Siemens PLM Software
Future work
• Release the End-User Software in Tecnomatix Process Simulate (End of 2015)
• Weld Points Distribution (Clustering and GTSP)
• Multi-robots trajectory planning (Synchronisation, Interlock zones)
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Page 21 Siemens PLM Software
SW Component
(KineoWorks)
Path Planning Business
Algo End User SW
Marketing Sales
Cu
sto
mer W
ork
flow
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