ICRA 2011 Paper Abstract


Paper ThP208.1

Chen, Heping (Texas State University), Sheng, Weihua (Oklahoma State University)

Transformative Industrial Robot Programming in Surface Manufacturing

Scheduled for presentation during the Regular Sessions "Robotic Software, Middleware and Programming Environments II" (ThP208), Thursday, May 12, 2011, 15:25−15:40, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 23, 2019

Keywords Industrial Robots


Surface manufacturing is a process of adding material to or removing material from the surfaces of a part. Spray painting, spray forming, rapid tooling, spray coating, and polishing are some of the typical applications of surface manufacturing, where industrial robots are usually used. Robot programming for these applications is still time consuming and costly. Typical teaching methods are not cost effective and efficient. There are many offline programming methods developed to reduce the robot programming effort. However, these methods suffer many practical issues, such as cable/hose tangling, robot configuration, collision and reachability. To solve these problems, this paper discusses a new method to generate robot programs based on existing ones in the database, which contains not only the robot paths, but also the programmersí knowledge and process parameters. Since industrial robots have been used in production for decades, there are many robot programs for different parts generated by the robot programmers. Some of these parts are quite similar, such as car bodies. Therefore, these robot programs can be transformed to generate new ones with some adjustments based on the geometry of new parts. In this paper, a robot path generation method is developed based on the existing robot paths in the database. Experiments were performed to validate the developed methodology. The results are very promising in reducing the programming efforts in surface manufacturing.



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