CAD-guided robot motion planning

Citation
Wh. Sheng et al., CAD-guided robot motion planning, IND ROBOT, 28(2), 2001, pp. 143-151
Citations number
15
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
INDUSTRIAL ROBOT
ISSN journal
0143991X → ACNP
Volume
28
Issue
2
Year of publication
2001
Pages
143 - 151
Database
ISI
SICI code
0143-991X(2001)28:2<143:CRMP>2.0.ZU;2-9
Abstract
This paper presents a new method to automate robot motion planning in autom otive manufacturing environments. A general framework is developed for CAD- guided robot motion planning. The problem is formulated as a constraint-sat isfying problem of tool configurations or, robot hand poses. Two types of r obot motion are considered: discrete motion, or point to point motion, and continuous motion. Triangular facets are used to approximate the part surfa ces. A pre-partition process decomposes the complex part surfaces into seve ral simple, easy-to-solve patches. For each patch, robot hand poses are det ermined to satisfy certain task constraints. In this paper, the approach is applied to two applications: vision sensor planning and spray painting gun path planning. It is our belief that more robot planning applications in m anufacturing can benefit from this method.