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Automated robot programming based on sensor fusion

Hui Zhang (ABB Corporate Research, ABB Inc., Windsor, Connecticut, USA)
Heping Chen (ABB Corporate Research, ABB Inc., Windsor, Connecticut, USA)
Ning Xi (ECE Department, Michigan State University, East Lansing, Michigan, USA)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 November 2006



Aims to demonstrate how an automated robot program generation method can be developed and implemented.


A visual and force servoing method to automatically generate robot paths and robot programs, based on position, force and vision sensor fusion, was developed.


By using a hybrid control algorithm the robot is controlled to follow the feature on a surface with position and orientation control.


The developed method can be applied to generate tool paths for many manufacturing tasks automatically, which can greatly reduce the robot programming time and decrease the manufacturing cost.



Zhang, H., Chen, H. and Xi, N. (2006), "Automated robot programming based on sensor fusion", Industrial Robot, Vol. 33 No. 6, pp. 451-459.



Emerald Group Publishing Limited

Copyright © 2006, Emerald Group Publishing Limited