Procedia Computer Science · 2018 · 33 citations · 10 references
EngineeringManufacturing EngineeringRobotics EngineeringHuman-robot InteractionPath PlanningRoboticsManipulator DesignRobot ManipulatorsRobot Motion PlanningRobotics In ManufacturingManipulator ModelingOperatorsRobot Path PlanningRobot ProgrammingRobot Trajectory Generation
Manufacturing processes often rely on human operators, which is time‑consuming and costly. The study develops a CAD‑based off‑line programming platform using OPEN CASCADE to streamline robot path generation. The platform serves as a human‑robot interface that loads CAD models, extracts geometry to generate robot paths, checks reachability, simulates motion to avoid collisions, and produces executable programs for a 6‑DOF industrial manipulator.
In manufacturing industries, human operators are required in many manufacturing processes, which is time-consuming and not cost-effective. In the present approach, a CAD-based off-line programming (OLP) platform is developed based on OPEN CASCADE (OCC) open source libraries. The developed platform works as a human-robot interface (HRI), offers friendly interaction in an intuitive way, so that in few minutes with basic information, any user can generate a robot path from a CAD model and visualize the simulation graphically. The platform provides important steps such as loading CAD models to define a task, extracting CAD information to generate a path, checking the reachability of the manipulator, and simulation to check and prevent the possible collision before generating a robot program. To evaluate the industrial usability of the proposed platform, a robot program for gluing application is generated from simulation and mapped to a real 6-Degree Of Freedom industrial manipulator.
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