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

Fingerprint

Robot programming
Computer aided design
Robots
Processing
Metals
Testing

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
Pulkkinen, Topi ; Heikkilä, Tapio ; Sallinen, Mikko ; Kivikunnas, Sauli ; Salmi, Timo. / 2D CAD based robot programming for processing metal profiles in short series manufacturing. Proceedings: International Conference on Control, Automation and Systems, ICCAS 2008. IEEE Institute of Electrical and Electronic Engineers , 2008. pp. 156 - 162
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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.",
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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. IEEE Institute of Electrical and Electronic Engineers , pp. 156 - 162, International Conference on Control, Automation and Systems, ICCAS 2008, Seoul, Korea, Democratic People's Republic of, 14/10/08. https://doi.org/10.1109/ICCAS.2008.4694542

2D CAD based robot programming for processing metal profiles in short series manufacturing. / Pulkkinen, Topi; Heikkilä, Tapio; Sallinen, Mikko; Kivikunnas, Sauli; Salmi, Timo.

Proceedings: International Conference on Control, Automation and Systems, ICCAS 2008. IEEE Institute of Electrical and Electronic Engineers , 2008. p. 156 - 162.

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

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T1 - 2D CAD based robot programming for processing metal profiles in short series manufacturing

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AU - Salmi, Timo

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N2 - 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.

AB - 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.

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