High-level robot programming based on CAD: dealing with unpredictable environments

• Type: Article in International Scientific Journal
• Date: 2012

Authors

Neto, P (Author) Other; Mendes, N (Author) Other; Araujo, R (Author) Other; Pires, JN (Author) Other; António Paulo Moreira (Author) FEUP

Journal

Title: Industrial Robot

Vol. 39 No. 3

Pages: 294-303

ISSN: 0143-991X

Publisher: Emerald

Indexing

ISI Web of Knowledge - 34 Citations

Scopus - 38 Citations

Other information

Authenticus ID: P-002-G9N

DOI: 10.1108/01439911211217125

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10