Direct off-line robot programming via a common CAD package

被引：103

作者：

Neto, Pedro ^{[1
]}

Mendes, Nuno ^{[1
]}

机构：

[1] Univ Coimbra, Dept Mech Engn POLO 2, CEMUC, P-3030708 Coimbra, Portugal

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 08期

关键词：

Intuitive robot programming; CAD; Off-line programming; SYSTEM; IMPLEMENTATION; CALIBRATION; GENERATION; CONTROLLER; SIMULATION;

D O I：

10.1016/j.robot.2013.02.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：896 / 910

页数：15

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