PROGRAMMING ROBOT MOTIONS PERFORMING VARIOUS TASKS IS ONE OF THE MOST TIME-CONSUMING STEPS IN USING ROBOTS. CURRENTLY, MOTION PROGRAMMING IS MANUALLY DONE USING TEACH PENDANTS OR GRAPHICAL SIMULATION SOFTWARE. TO SYSTEMATICALLY DEVELOP AUTOMATIC MOTION PLANNERS, ROBOTIC TASKS ARE CLASSIFIED INTO VISIT-POINTS, TRACE-CURVES AND COVER- SURFACE TASKS. THE MOTION PLANNERS COMPUTE NEAR SHORTEST PATHS FROM THE ROBOT AND PART MODELS IN CAD DATA BASES, WHILE RESPECTING TASK CONSTRAINTS, ROBOT KINEMATICS CONSTRAINTS AND COLLISION CONSTRAINTS.
| Number of Pages : | 11 |
| Published : | 06/01/1994 |
