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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    • "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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    • "The work in [1] presents a CAD-based system to program a robot from a 3D CAD environment and a human-robot interface is developed. A simulation system with a relative low cost and an available 3D CAD package to visualize preprogrammed robot paths is presented in [2]. "
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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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