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Direct off-line robot programming via a common CAD package

descriptionPublicationkeyboard_double_arrow_right Article , Preprint 01 Aug 2013Embargo end date: 01 Jan 2013 English Publisher:Elsevier BVJournal:Robotics and Autonomous Systems, volume 61, pages 896-910 (issn: 0921-8890, Copyright policy )
Authors: Neto, Pedro; Mendes, Nuno;

doi: 10.1016/j.robot.2013.02.005 , 10.48550/arxiv.1309.2078

arXiv: 1309.2078

handle: 10316/27383

Direct off-line robot programming via a common CAD package

Abstract

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach.

Related Organizations
Keywords

FOS: Computer and information sciences, Computer Science - Robotics, CAD, Off-line programming, Intuitive robot programming, Robotics (cs.RO)

  • BIP!
    Impact byBIP!
    selected citations
    These citations are derived from selected sources.
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    		 99
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    		 Top 1%
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    		 Top 1%
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    		 Top 10%
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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
99
Top 1%
Top 1%
Top 10%
Green
bronze