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CAD‐guided robot motion planning

Weihua Sheng (Weihua Sheng is based at the Electrical and Computer Engineering Department, Michigan State University, East Lansing, MI, 48824, USA.)
Ning Xi (Ning Xi is based at the Electrical and Computer Engineering Department, Michigan State University, East Lansing, MI, 48824, USA.)
Mumin Song (Mumin Song is based in the Scientific Research Labs, Ford Motor Company, Dearborn, MI 48121, USA.)
Yifan Chen (Yifan Chen is based in the Scientific Research Labs, Ford Motor Company, Dearborn, MI 48121, USA.)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 April 2001

Abstract

This 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 our belief that more robot planning applications in manufacturing can benefit from this method.

Keywords

Citation

Sheng, W., Xi, N., Song, M. and Chen, Y. (2001), "CAD‐guided robot motion planning", Industrial Robot, Vol. 28 No. 2, pp. 143-152. https://doi.org/10.1108/01439910110382738

Publisher

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MCB UP Ltd

Copyright © 2001, MCB UP Limited