Task-oriented programming of large redundant robot motion

Large robots are a new domain of advanced robotics. Examples of their appli cation fields are tasks like operations on large free-form surfaces, especi ally aircraft cleaning and removing paint from hulls. They are equipped wit h a programmable robot control comparable to a control system used for indu strial robots. However, conventional teach-in methods are not able to manag e the complexity of programming large redundant robot operation on free-for m geometries. The Fraunhofer IPA has developed an innovative off-line progr amming system that allows the creation of robot motion programs which satis fy time and energy optimization criteria. This system helps to avoid collis ions within the workspace and to fulfill conditions that arise from the rob ot kinematics and dynamics. This advanced programming system has been succe ssfully used to generate motion programs for the world's largest mobile rob ot, the aircraft cleaning manipulator SKYWASH. In this context offline prog rams for eleven different types of aircraft have been developed. (C) 1998 E lsevier Science Ltd. All rights reserved.