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Titolo:
CAD-guided robot motion planning
Autore:
Sheng, WH; Xi, N; Song, M; Chen, YF;
Indirizzi:
Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA Michigan State Univ E Lansing MI USA 48824 Engn, E Lansing, MI 48824 USA Ford Motor Co, Sci Res Labs, Dearborn, MI 48121 USA Ford Motor Co Dearborn MI USA 48121 Sci Res Labs, Dearborn, MI 48121 USA
Titolo Testata:
INDUSTRIAL ROBOT
fascicolo: 2, volume: 28, anno: 2001,
pagine: 143 - 151
SICI:
0143-991X(2001)28:2<143:CRMP>2.0.ZU;2-9
Fonte:
ISI
Lingua:
ENG
Soggetto:
VISION;
Keywords:
robots; painting; CAD;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
15
Recensione:
Indirizzi per estratti:
Indirizzo: Sheng, WH Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824USA Michigan State Univ E Lansing MI USA 48824 ansing, MI 48824 USA
Citazione:
W.H. Sheng et al., "CAD-guided robot motion planning", IND ROBOT, 28(2), 2001, pp. 143-151

Abstract

This paper presents a new method to automate robot motion planning in automotive manufacturing environments. A general framework is developed for CAD-guided robot motion planning. The problem is formulated as a constraint-satisfying problem of tool configurations or, robot hand poses. Two types of robot motion are considered: discrete motion, or point to point motion, andcontinuous motion. Triangular facets are used to approximate the part surfaces. A pre-partition process decomposes the complex part surfaces into several simple, easy-to-solve patches. For each patch, robot hand poses are determined to satisfy certain task constraints. In this paper, the approach is applied to two applications: vision sensor planning and spray painting gun path planning. It is our belief that more robot planning applications in manufacturing can benefit from this method.

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Documento generato il 28/11/20 alle ore 21:37:18