Conference Paper

CAD-based off-line robot programming

Dept. of Mech. Eng. (CEMUC), Univ. of Coimbra, Coimbra, Portugal
DOI: 10.1109/RAMECH.2010.5513141 Conference: Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on
Source: IEEE Xplore


Traditional industrial robot programming, using the robot teach pendant, is a tedious and time-consuming task that requires technical expertise. Hence, new and more intuitive ways for people to interact with robots are required to make robot programming easier. The goal is to develop methodologies that help users to program a robot in an intuitive way, with a high-level of abstraction from the robot language. In this paper we present a CAD-based system to program a robot from a 3D CAD environment, allowing users with basic CAD skills to generate robot programs off-line, without stop robot production. This system works as a human-robot interface (HRI) where, through a relatively low cost and commercially available CAD package, the user is able to generate robot programs. The methods used to extract information from the CAD and techniques to treat/convert it into robot commands are presented. The effectiveness of the proposed method is proved through various experiments. The results showed that the system is easy to use and within minutes an untrained user can set up the system and generate a robot program for a specific task. Finally, the time spent in the robot programming task is compared with the time taken to perform the same task but using the robot teach pendant as interface.

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Available from: Pedro Neto, Oct 03, 2015
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    • "Often, researches on trajectory optimization of robot manipulators focus on repetitive tasks such as spot-welding, laser and wafer cutting, handling parts and many other applications [3],[4],[1],[5],[6], where the high productivity can be obtained by finding a minimum time of execution. Taking into consideration the complexity of the manufacturing systems, the performance of industrial manipulators can be improved by using optimization techniques [7], [8] and off-line programming process [10] that drives the end product to have high quality and low cost. Targeting the same goals, various tools and methods have been consequently developed [11]. "
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    ABSTRACT: Today's industrial manipulators are more and more demanding in terms of productivity. This goal could be achieved by increasing speed of the robot manipulator and/or by optimizing the trajectories followed by manipulators while performing manufacturing, assembling, welding or similar tasks. Focusing on the second aspect, this research proposes a method based on genetic algorithms by exploiting CAD (computer aided design) capabilities to optimize and simulate cycle time in performing classical manufacturing tasks. The goal is to determine the shortest distance traveled by the robot manipulator in the coordinate space for every pair of successive points. In addition, our optimization procedure considers supplementary factors such as inverse kinematic model (IKM) and relative position/orientation of the manipulator w.r.t task points. All these factors were statistically assessed to determine both individual and cross influences in finding the optimal solution. The proposed approach has been validated on a real life setup, involving a 6-DOFs (degrees of freedom) industrial robot manipulator when performing a spot welding task on a car body. The obtained results are promising and show the effectiveness of the proposed strategy.
    Robotics and Computer-Integrated Manufacturing 01/2015; 34. DOI:10.1016/j.rcim.2014.12.003 · 2.31 Impact Factor
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    • "Over the years some researchers have explored CAD technology trying to extend its capabilities to the robotics field. Today, it is possible to extract information from CAD drawings/files to generate robot paths/programs for many different applications [15] [16] [17] [18]. A series of studies have been conducted using CAD as an interface between robots and humans. "
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    ABSTRACT: This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach.
    Robotics and Autonomous Systems 08/2013; 61(8-8):896 - 910. DOI:10.1016/j.robot.2013.02.005 · 1.26 Impact Factor
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    • "Nevertheless, they have some disadvantages that hinder their use in companies, especially in SMEs. By comparing commercial CAR packages with a CAD-based robot programming system similar to that presented in this paper (Neto et al., 2010a), it was found that the CAD-based system has some relative advantages: "
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    ABSTRACT: Purpose – The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach – Intuitive robot programming is achieved by using CAD drawings to generate robot programs off-line. Sensory feedback allows minimization of the effects of uncertainty, providing information to adjust the robot paths during robot operation. Findings – It was found that it is possible to generate a robot program from a common CAD drawing and run it without any major concerns about calibration or CAD model accuracy. Research limitations/implications – A limitation of the proposed system has to do with the fact that it was designed to be used for particular technological applications. Practical implications – Since most manufacturing companies have CAD packages in their facilities today, CAD-based robot programming may be a good option to program robots without the need for skilled robot programmers. Originality/value – The paper proposes a new CAD-based robot programming system. Robot programs are directly generated from a CAD drawing “running” on a commonly available 3D CAD package (Autodesk Inventor) and not from a commercial, computer aided robotics (CAR) software, making it a simple CAD integrated solution. This is a low-cost and low-setup time system where no advanced robot programming skills are required to operate it. In summary, robot programs are generated with a high-level of abstraction from the robot language.
    Industrial Robot 04/2012; 39(3):294-303. DOI:10.1108/01439911211217125 · 0.64 Impact Factor
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