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arXiv · 1309.2086

High-level robot programming based on CAD: dealing with unpredictable environments

Pedro Neto·Nuno Mendes·Ricardo Araújo·J. Norberto Pires·A. Paulo Moreira
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Abstract

Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive robot programming is achieved by using CAD drawings to generate robot programs off-line. Sensory feedback allows minimization of the effects of uncertainty, providing information to adjust the robot paths during robot operation. Findings - It was found that it is possible to generate a robot program from a common CAD drawing and run it without any major concerns about calibration or CAD model accuracy. Research limitations/implications - A limitation of the proposed system has to do with the fact that it was designed to be used for particular technological applications. Practical implications - Since most manufacturing companies have CAD packages in their facilities today, CAD-based robot programming may be a good option to program robots without the need for skilled robot programmers. Originality/value - The paper proposes a new CAD-based robot programming system. Robot programs are directly generated from a CAD drawing running on a commonly available 3D CAD package (Autodesk Inventor) and not from a commercial, computer aided robotics (CAR) software, making it a simple CAD integrated solution. This is a low-cost and low-setup time system where no advanced robot programming skills are required to operate it. In summary, robot programs are generated with a high-level of abstraction from the robot language.

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Pedro Neto, Nuno Mendes, Ricardo Araújo, J. Norberto Pires, A. Paulo Moreira. 2013-09-09. High-level robot programming based on CAD: dealing with unpredictable environments. https://doi.org/10.1108/01439911211217125

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