2D CAD based robot programming for processing metal profiles in short series manufacturing

Topi Pulkkinen, Tapio Heikkilä, Mikko Sallinen, Sauli Kivikunnas, Timo Salmi

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    9 Citations (Scopus)

    Abstract

    Fast robot programming is a requirement for efficient, flexible and reconfigurable short series manufacturing processes. This paper presents a model based robot programming concept for applications where metal profiles are processed by robots and only a 2D geometrical representation of the workobject - or product billet - is available.
    The robot is programmed mainly through the 2D CAD drawing of the product billet by adding the process-related information such as bending- and cutting lines, angles and plate thickness. This enables the automatic extension of the model into 3D-space and calculating the sparse set of tool path tag points for the robot. The concept also considers the joint limits of the robot while interpolating the robot motions to full paths. This is achieved by dividing the complete path into segments and adjusting the product billet location and tag point configurations within the path.
    The segmentation of the path is done in an offline programming environment that also enables collision checking and path correctness verification.
    The concept is evaluated and tested in a simulation environment and in a real robot testing environment.
    Original languageEnglish
    Title of host publicationProceedings
    Subtitle of host publicationInternational Conference on Control, Automation and Systems, ICCAS 2008
    PublisherIEEE Institute of Electrical and Electronic Engineers
    Pages156 - 162
    ISBN (Print)978-8-9950-0389-3, 978-8-9932-1501-4
    DOIs
    Publication statusPublished - 2008
    MoE publication typeA4 Article in a conference publication
    EventInternational Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Democratic People's Republic of
    Duration: 14 Oct 200817 Oct 2008

    Conference

    ConferenceInternational Conference on Control, Automation and Systems, ICCAS 2008
    Abbreviated titleICCAS 2008
    CountryKorea, Democratic People's Republic of
    CitySeoul
    Period14/10/0817/10/08

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  • Cite this

    Pulkkinen, T., Heikkilä, T., Sallinen, M., Kivikunnas, S., & Salmi, T. (2008). 2D CAD based robot programming for processing metal profiles in short series manufacturing. In Proceedings: International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 156 - 162). IEEE Institute of Electrical and Electronic Engineers. https://doi.org/10.1109/ICCAS.2008.4694542