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Article: CAD-guided robot motion planning

TitleCAD-guided robot motion planning
Authors
KeywordsRobots
Painting
CAD
Issue Date2001
Citation
Industrial Robot, 2001, v. 28, n. 2, p. 143-151 How to Cite?
AbstractThis paper presents a new method to automate robot motion planning in automotive manufacturing environments. A general framework is developed for CAD-guided robot motion planning. The problem is formulated as a constraint-satisfying problem of tool configurations or, robot hand poses. Two types of robot motion are considered: discrete motion, or point to point motion, and continuous motion. Triangular facets are used to approximate the part surfaces. A pre-partition process decomposes the complex part surfaces into several simple, easy-to-solve patches. For each patch, robot hand poses are determined 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 out belief that more robot planning applications in manufacturing can benefit from this method.
Persistent Identifierhttp://hdl.handle.net/10722/212733
ISSN
2015 Impact Factor: 0.422
2015 SCImago Journal Rankings: 0.375

 

DC FieldValueLanguage
dc.contributor.authorSheng, Weihua-
dc.contributor.authorXi, Ning-
dc.contributor.authorSong, Mumin-
dc.contributor.authorChen, Yifan-
dc.date.accessioned2015-07-28T04:04:50Z-
dc.date.available2015-07-28T04:04:50Z-
dc.date.issued2001-
dc.identifier.citationIndustrial Robot, 2001, v. 28, n. 2, p. 143-151-
dc.identifier.issn0143-991X-
dc.identifier.urihttp://hdl.handle.net/10722/212733-
dc.description.abstractThis paper presents a new method to automate robot motion planning in automotive manufacturing environments. A general framework is developed for CAD-guided robot motion planning. The problem is formulated as a constraint-satisfying problem of tool configurations or, robot hand poses. Two types of robot motion are considered: discrete motion, or point to point motion, and continuous motion. Triangular facets are used to approximate the part surfaces. A pre-partition process decomposes the complex part surfaces into several simple, easy-to-solve patches. For each patch, robot hand poses are determined 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 out belief that more robot planning applications in manufacturing can benefit from this method.-
dc.languageeng-
dc.relation.ispartofIndustrial Robot-
dc.subjectRobots-
dc.subjectPainting-
dc.subjectCAD-
dc.titleCAD-guided robot motion planning-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0034920102-
dc.identifier.volume28-
dc.identifier.issue2-
dc.identifier.spage143-
dc.identifier.epage151-

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