Robotic path learning with Graphical User Interface

This paper describes an automated path generation method for industrial robotics. Based on force control, a method and system was developed for robot path automatic generation or path learning. Using a dummy tool and rough points around the part contour, robot moves in position and force controlled hybrid mode, following the order of the taught points and contact force direction and value predefined. During the motion, robot actual position is read and stored into in the robot controller. After the motion, recorded data is used to generate a robot path program automatically. Robot lead-through can be used in the robot position teaching. Furthermore, a Graphical User Interface is developed on the teach pedant to guide through the control point creation and teaching, path learning, program verification and execution. The development has been incorporated into a force control machining product option. Combination of the robot path learning and GUI enhances interaction between the robot and operator and drastically increases the level of the ease-of-use.