An Interactive Task Oriented Robot Programming System

Abstract

One of the bottle necks when applying robots in small scaled production is programming. This is due to the fact that the jobs usually vary in such a great extent that reprogramming is frequently needed because work pieces are partly individual or the adaptation needed in different jobs cannot be realized by using sensors. The research reported in the paper deals with this problem and we introduce the prototype of a high-level task oriented programming and job control system for an experimental flexible robot work cell. Software of the system is running in PC/AT environment.The system is based on interactive use of a high level command language and world model database which is built and updated by the aid of a special 3D-measuring device. Tasks are defined and programmed on-site at the working environment thus utilizing advantages of on-line teaching. However, the robot itself is not needed in the programming and thus also advantages of off-line teaching methods are obtained.A crucial part of the system is the world model which is based on simple geometric primitives. The operator creates and updates the model by using commands in the language and a 3D-pointer device with which he defines points and directions in the working space. Details of the modelling method and the language as well as a mechanical 3D-pointer, used in the preliminary phase of the project, are explained in the draft paper. An advanced 3D-pointer which utilizes laser and camera techniques has been constructed in the research project and will be described in the final paper.Applications of the interactive programming method are currently studied in connection with processing tasks like welding and grinding. Video showing experiments in the research work cell will be presented during the session.