Off-line programming of an industrial robot for manufacturing

Abstract

A procedure for the automatic generation of the robot programming used in manufacturing operations is introduced in the present paper. The off-line programming system developed here includes graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning and creation of the NC code for manufacturing process. The proposed system is applied in a robot with five revolute joints for manufacturing operations and in a robot with six revolute joints for welding operations.

Gesture-Based Extraction of Robot Skill Parameters for Intuitive Robot Programming

“…When it comes to programming of industrial robots, research focus seems to be on offline programming by using CAD models [11,35,36] or online programming using augmented reality [6,14,24]. Both of these approaches, however, do not address the issue of transformable robots, but rather methods for creating robot programs that perform repetitive motions with limited sensing.…”

Robot skills for manufacturing: From concept to industrial deployment

“…HRI in industrial settings focuses on offline programming by using CAD models [30][31][32] or online programming using augmented reality (AR) [33][34][35]. The apparent limitation of such methods is that they assume the presence of an expert for reprogramming, which makes them unsuitable for the envisioned transformable factories.…”

From High-Level Task Descriptions to Executable Robot Code

“…However, it is desirable to minimize downtime for the robot, therefore, much programming and simulation is done offline whereas only the fine tuning is done online [21][22][23]. This has resulted in a plethora of tools for robot programming, where several of them attempt to make the programming simpler, e.g., by using visual programming languages.…”