A sensor based technique for automated robot programming

Abstract This paper presents the concept of integrating a tactile sensor based, automated part measuring technique and a CAD programming scheme to perform off-line programming for a welding robot. The techniques used to achieve data flow throughout the production process include coordinate system referencing, interactive programming, tactile sensing seam tracing, and coordinate transformation. Together they form the backbone of the idea of integrating measurement and production operations where continuous path geometrical control is required. Techniques for referencing a workpiece with respect to different handling devices, and positioning the part on a suitable fixture, form an important portion of this work. Consequently, the positioning aspect and the data transfer capability between stages in the production process are highlighted. The welding of lap-joint type seams serves as an example. The integration of automated measurement and off-line robot programming actually constitutes a flexible manufacturing system operation that is capable of assuring the required process control. In this regard, linking a robot with an automated part measuring technique forms an important step towards upgrading a robot device from a difficult to program unit to a unit with a high degree of flexibility with rapid, convenient automatic contour programming.