Automatic sensor-assisted generation of optimal user responsive robot programs

A novel sensor-based concept for automatic generation of IR (industrial robot) motion programs that provides high dynamic accuracy even in the case of complex workpiece contours is presented. The concept is based on sensor-controlled contour scanning and successive data reduction that depends on the tolerance band and velocity profile demanded by the IR user. By introducing an efficient tool vector notation for describing TCP (tool center point) orientation, the quality of programs generated is considerably improved. The method, which has been implemented on a commercial control system in a real environment, represents a very efficient tool for drastically minimizing the setting-up times of the IR. The performance of the concept is illustrated by some practical results