Model based interactive path planning for surface following robot tasks

Tapio Heikkilä, Lluis Gironella i Ferrer, Matti Annala

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


    Programming of frequently introduced new tasks becomes often a bottleneck for robotized surface treatment from the point of view of production performance. We have developed off-line programming tools relying on CAD product models, and, in more detail, on the surface and solid models of the products. Our system creates surface following paths over the parts or products automatically, or interactively guided by an operator. In automatic planning the paths are derived by decomposing the model into open surface segments over which the paths are created. In interactive planning a set of planar profiles are projected on the surfaces of the part model, composing the basis for the paths. We have implemented the planning system in WindowsNT™ environment and confirmed the feasibility of the planning results for some demonstration products with tests in an IRB 1400 robot system.
    Original languageEnglish
    Title of host publicationIntelligent Robots and Computer Vision XVI
    Subtitle of host publicationAlgorithms, Techniques, Active Vision, and Materials Handling
    EditorsDavid P. Casasent
    PublisherInternational Society for Optics and Photonics SPIE
    ISBN (Print)978-0-8194-2640-6
    Publication statusPublished - 1997
    MoE publication typeA4 Article in a conference publication
    EventIntelligent Systems and Advanced Manufacturing - Pittsburgh, United States
    Duration: 15 Oct 199717 Oct 1997

    Publication series

    SeriesProceedings of SPIE


    ConferenceIntelligent Systems and Advanced Manufacturing
    Country/TerritoryUnited States


    • CAD models
    • robot programming
    • path planning
    • interactive planning


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