Robot Programming for Surface Finishing based on CAD Model Including External Axes

Abstract:
This article presents the development of software for automatically robot path generation based on the CAD data of workpieces. It can be used for some kinds of surface finishing processes, e.g. built-up welding. The objects can have a complex geometry described by free form surfaces. The software considers also external axes which are connected to the robot controller, e.g. a two-axis positioner. External axes can be used to optimize the robot path or to achieve process relevant requirements such as the downhand position. For this purpose the according kinematical solutions have to be found. The software differs between plane and rotation-symmetric workpieces. The proposed algorithms and the developed software are verified successfully by practical experiments.