A method for generation of machining and fixturing features from design features
Computers in Industry
CAD-based automated robot programming in adhesive spray systems for shoe outsoles and uppers
Journal of Robotic Systems
Interactive robot trajectory planning and simulation using Augmented Reality
Robotics and Computer-Integrated Manufacturing
Integrated sliding-mode algorithms in robot tracking applications
Robotics and Computer-Integrated Manufacturing
Discretization and fitting of nominal data for autonomous robots
Expert Systems with Applications: An International Journal
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The efficiency of the off-line programming for the arc welding robots depends on the complexity of the workpieces and the welding experience of the technician. When the workpieces or fixtures are redesigned or the robot workstation layout is changed, the result of prior off-line programming cannot be reused. With the thought of CAD/CAPP/CAM integration, this paper presents a feature mapping algorithm, which converts the design features of the workpieces to the machining features of the seams. Then a motion navigation method based on feature mapping in a simulation environment is proposed. This method comprises initial position guiding and seam tracking. For initial position guiding, a motion path with the least energy consumption is generated based on the weighted optimal control; then the path is revised for avoiding obstacles by setting the path tags dynamically. For seam tracking, the seam is dispersed into discrete welding points; then the welding gun moves through each point according to the welding sequence. The method is implemented in the development of an off-line programming simulation system. Industrial cases of the welding robot workcell layout for automobile door frames show the method can make the off-line programming much more effective.