Rule-based contour generation for robotic processes

A method for the online generation of contours of a workpiece, which can be automatically used in the trajectory generation that is necessary to carry out the robotic process, is described. The technique develops a set of models offline by analyzing a large batch of process contours obtained by human process experts. Easily measurable geometric features of the objects that correspond to the process contours are a part of the measured data. Further analysis of the data provides a correspondence between the simple geometric features and the contour models, which will generate a rule base for model matching. The online generation of a process contour is a matter of measuring the simple geometric features and subsequent matching of a model through the use of the rule base. An analytical basis for rule base generation is presented. An example is given to demonstrate the procedure