Robot Programming in Machining Operations

Abstract

Driven by the need for higher -flexibility and -speed during initial programming and path adjustments, new robot programming methodologies quickly arises. The traditional "Teach" and "Offline" programming methodologies have distinct weaknesses in machining applications. "Teach" programming is time consuming when used on freeform surfaces or in areas with limited visibility /accessibility. Also, "Teach" programming only relates to the real work-piece and there is no connection to the ideal CAD model of the work-piece. Vice versa during offline programming there is no knowledge about the real work-piece, only the ideal CAD model is used. To be able to relate to both the real-and ideal-model of the work-piece is especially important in machining operations where the difference between the models often represents the necessary material removal . In this chapter an introduction to a programming methodology especially targeted for machining applications is given. This methodology use a single camera combined with image processing algorithms like edge-and colour-detection, combines information of the real and ideal work-piece and represents a human friendly and effective approach for robot programming in machining operations.

Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications

“…Vision based - [150], [151]: recognition based on markers - [155], [157], [159]: markerless recognition - [158]: stereo 3D vision -[151]- [154]: hybrid vision/force approaches Vocal commanding - [162], [163]: use of simple and limited voice commands - [148]: vocal commanding combined with gesture recognition - [164]: quasi-natural speech language - [165]: issues related to environmental noise in industrial settings…”

“…In [150] the authors have proposed a robot programming approach based on the recognition of marks manually made by the human operator on the workpiece. Depending on the type of tasks needed, the worker marks differently the areas that need additional robot working; such marks are then detected by a vision system and are translated in instructions to the robot.…”

Recent progress on programming methods for industrial robots

“…Solvang [8] also presented a vision based programming methodology by identifying a path drawn onto the workpiece. This line is captured by a single camera for the 2D (x and y) coordinates.…”

A cognitive robot supervision system

“…The worker's eye is replaced with a camera and the worker's arm is replaced with the industrial robot. This concept was introduced in [7] and [8].…”