Model-based interactive path planning for surface following robot tasks

Programming of frequently introduced new tasks becomes often a bottleneck for robotized surface treatment from the point of view of production performance. We have developed off-line programming tools relying on CAD product models, and, in more detail, on the surface and solid models of the products. Our system creates surface following paths over the parts or products automatically, or interactively guided by an operator. In automatic planning the paths are derived by decomposing the model into open surface segments over which the paths are created. In interactive planning a set of planar profiles are projected on the surfaces of the part model, composing the basis for the paths. We have implemented the planning system in WindowsNT(TM) environment and confirmed the feasibility of the planning results for some demonstration products with tests in an IRB 1400 robot system.© (1997) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.