An online robot trajectory planning and programming support system for industrial use

Authors:
C. Kohrt;R. Stamp;A. G. Pipe;J. Kiely;G. Schiedermeier
Affiliations:
Department of Engineering, Design and Mathematics, UWE-University of the West of England, BS16 1QY Bristol, UK and Department of Computer Sciences, UASL-University of Applied Sciences Landshut, 84 ...;Department of Engineering, Design and Mathematics, UWE-University of the West of England, BS16 1QY Bristol, UK;Department of Engineering, Design and Mathematics, UWE-University of the West of England, BS16 1QY Bristol, UK;Department of Engineering, Design and Mathematics, UWE-University of the West of England, BS16 1QY Bristol, UK;Department of Computer Sciences, UASL-University of Applied Sciences Landshut, 84036 Landshut, Germany
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2013

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Abstract

The manufacturing industry today is still looking for enhancement of their production. Programming of articulated production robots is a major area for improvement. Today, offline simulation modified by manual programming is widely used to reduce production downtimes but requires financial investments in terms of additional personnel and equipment costs. The requirements have been evaluated considering modern manufacturing aspects and a new online robot trajectory planning and programming support system is presented for industrial use. The proposed methodology is executed solely online, rendering offline simulation obsolete and thereby reduces costs. To enable this system, a new cell-based Voronoi generation algorithm, together with a trajectory planner, is introduced. The robot trajectories so achieved are comparable to manually programmed robot programs. The results for a Mitsubishi RV-2AJ five axis industrial robot are presented.