Model-based interactive path planning for surface following robot tasks

Tapio A. Heikkila; Luis Gironella Ferrer-Argote; Matti Annala

doi:10.1117/12.290326

26 September 1997 Model-based interactive path planning for surface following robot tasks

Tapio A. Heikkila, Luis Gironella Ferrer-Argote, Matti Annala

Proceedings Volume 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling; (1997) https://doi.org/10.1117/12.290326
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

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.

Citation Download Citation

Tapio A. Heikkila, Luis Gironella Ferrer-Argote, and Matti Annala "Model-based interactive path planning for surface following robot tasks", Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); https://doi.org/10.1117/12.290326

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