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Free Shape Paths in Industrial Robots
 

Approach to implement free shape paths in generic industrial robots. ...

Approach to implement free shape paths in generic industrial robots.
Bezier curve descriptors can be storage as standard points.
Feasible to implement the Decasteljau algorithm within robot controllers.
Current and future industrial robotic applications might need free shape path capabilities to cooperate with humans and other machines.

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    Free Shape Paths in Industrial Robots Free Shape Paths in Industrial Robots Presentation Transcript

    • Free Shape Paths in Industrial Robots•Date: Octoer, 2012 Conference: 38th Annual Conference of•Linked to: AESOP the IEEE Industrial Electronics Society Title of the paper: Free Shape Paths in Industrial Robots Authors: Luis E. Gonzalez Moctezuma, Andrei Lobov, Jose L. Martinez LastraContact informationTampere University of Technology,FAST Laboratory,P.O. Box 600,FIN-33101 Tampere, If you would like to receive a reprint ofFinland the original paper, please contact usEmail: fast@tut.fiwww.tut.fi/fast
    • Free Shape Paths in Industrial RobotsAuthors: Luis E. Gonzalez Moctezuma, Andrei Lobov, Jose L. Martinez Lastra Tampere University of Technology Factory Automation Systems and Technology Lab IECON 2012, Montreal, Canada 25-28.10.2012
    • Outline• Motivation• Bezier curves• Curve approximation: arc and linear segments• Comparison• Implementation• Conclusions 17.01.13 3
    • Motivation (1/2)• 2008: 1.3 million of industrial robots• Simple movements in industrial robots – Linear – Circular• Need for free shape paths in robotic applications: – Welding – Fluid dispensing – Painting processes – Interaction and cooperation with humans 17.01.13 4
    • Motivation (2/2)• How to enable standard industrial robots to perform free shape paths? 17.01.13 5
    • Bezier curves (1/2)• Introduced by Pierre Bezier – Renault• Curves described by a parametric function 17.01.13 6
    • Bezier curves (2/2)• Control, flexibility, intuitive• Use and tools in: – Industrial design – CAD – 3D modelling – Vector-based drawing 17.01.13 7
    • Approximation by arc segments• Implementation of algorithm proposed by: Riskus, Aleksas. “Approximation of a Cubic Bezier Curve by Circular Arcs and Viceversa” – Find inflection points (curvature change in sign) – Segments subdivided to reach biarcs <90° 17.01.13 8
    • Approximation by linearsegments• 1) Evaluate directly on the polynomial function: Numerically unstable• 2) Use the De Casteljau algorithm – Uses parameter t – and Bezier descriptors Numerically stable 17.01.13 9
    • Comparison: arc Vs linearsegments * *Interpolations can be computed in the target (industrial robot controller)
    • Implementation• SCARA robot (~15 years old)• De Casteljau algorithm within the robot controller• Transfer to controller just Bezier descriptors 17.01.13 11
    • System in action Video link 17.01.13 12
    • Conclusions• Approach to implement free shape paths in generic industrial robots.• Bezier curve descriptors can be storage as standard points• Feasible to implement the Decasteljau algorithm within robot controllers• Current and future industrial robotic applications might need free shape path capabilities to cooperate with humans and other machines 17.01.13 13
    • Questions? 17.01.13 14