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In the manufacturing sector, industrial robots are being increasingly improved to execute machining tasks as they exhibit significant advantages in terms of flexibility, cost-effectiveness, affordability, and larger work-space when compared to traditional computer numeric control (CNC) machines. However, programming this kind of equipment for robotic machining is complex, due to closed architecture controller and proprietary programming languages limitations. For that reason, this work aims at contributing to the adoption of the STEP-NC standard (STandard for the Exchange of Product model data-Numerical Control (ISO 10303-238 and ISO 14649)), generating programs for robotic machining operations. The STEP-NC data model enables the integration of information from design, process planning, simulation, manufacturing, and even inspection in a single platform, which could create new alternatives for industrial robotic machining programming. In this context, several previous studies are described in this manuscript aiming to highlight the contribution of this work, in addition to the analysis, implementation, and validation of six different STEP-NC architectures describing the advantages that each architecture provides for achieving robotic machining capabilities. Each introduced architecture can successfully generate a STEP-NC robotic machining program, either as ISO 10303-238 or ISO 14649, which are validated in a simulation environment with both a virtual robot model and a real industrial robot equipped with a LinuxCNC controller. This approach can be implemented in different industrial robots.

On this paper, the design, control and implementation of a robotic system for bartender services is realized. In this approachment, initially the QFD design methodology is used, so the product's final users requirements identification and prioritization could be done, alongside with the CAD and the fabrication of a functional 5 DOF prototype robot that performs manipulation tasks for drinks in collaboration with a camera on its final effector that supplies live vision of the surroundings. The proposed goal is making use of artificial vision and inverse kinematics in order to position the robot so that it could do some tasks meant to waiters. The 2D artificial vision system used was the fast detector and descriptor SURF (Speeded Up Robust Features) and servo-piloting for the camera to track and find interest objects and grasp them.

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