The ROMA Concept

The Rinas Systems for off-line programming of robots are all model-based systems.

The concept platform on which all Rinas software packages are based is called ROMA which stands for “RObotized Model-based Automation”.

The ROMA concept allows easy adaptation of Rinas software to a variety of industrial processes.  

Product Model
Process Model
Equipment Model
Work Strategy Model

The Product Model

The Product Model is established by importing the work-piece model from a CAD system.

The Product Model includes advanced 3D geometry import and work-piece analysis facilities. CAD model definitions may be imported using various CAD-data exchange formats.
Several types of CAD models can be handled, including parameterized descriptions, 2 and 2½-dimensional, and 3-dimensional representations. 

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The Process Model

The Process Model contains all relevant information necessary for the actual process (welding, oxy-fuel-, plasma- and water-jet cutting, grinding and other) to be performed properly.

All rules, moving patterns, conditions, tolerances and specific process parameters that are needed for achieving the production quality required are either predefined or can be defined by the user.

The Process Model can be enriched by the user in a structured way, as experience from the production is being collected.
This ensures that production knowledge is systematically stored and reused in future production.

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The complete definition of each unique set of equipment (robot, gantry etc.) is stored in the Equipment Model.
This definition serves as the basis for the exact controlling of robot movements, including collision checking and collision avoidance.

The Equipment Model contains all relevant information about the geometry, kinematics and inverse kinematics for the processing equipment (gantry, robot, manipulators, tools etc.)

During the automatic robot program generation phase this information is used in the internal simulation process to assure that all movements are possible, and made without collision.

Finally, and after completed generation of robot programs, if the user wishes so, the graphical simulation can be executed in order to visualize the performance of the generated robot program.

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The Work Strategy Model

The strategies employed in the automatic system procedures are defined and managed through the built-in facilities of the Work Strategy Model.
These facilities enables the user to control process method selection as well as priority and sequence of operations to be performed.

The work strategies are based on information with relation to following elements:

• Processing rules and specifications

• Sequencing and scheduling of processing information

• Task subdivision

• Sensing requirements

• Collision free paths

• Efficiency considerations

All of these elements are combined in the Work Strategy Model allowing the daily generation of correct and efficient robot programs to be made automatically without requiring intervention from the user.

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