Direct off-line robot programming via a common CAD package
This work addresses the need for more accessible robot programming for users with basic CAD and robotics knowledge, though it appears incremental as it builds on existing CAD-based methods.
The paper tackled the problem of off-line robot programming by developing a system that uses a common CAD package to automatically generate robot paths and programs from CAD drawings, demonstrating effectiveness and versatility in experiments on various manipulation tasks.
This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach.