Computer-aided programming of robotic manufacturing cells for laser cutting applications

The paper focuses on the enhancement of automatic robot programming techniques for laser cutting application. Its particular contribution lies in the area of multiobjective optimisation of robot motions via graph representation of the search space and dynamic programming procedures. It have been developed algorithms that allow to generate smooth manipulator trajectories within acceptable time, simultaneously considering kinematic, collision and singularities constraints of the robotic system, as well as the limitations of the robot control units. The presented results are implemented in a commercial software package and verified for real-life applications in automotive industry.