Real-time path planning for an industrial robot using CAD data (The generation of a tool path by considering a tool configuration)

The study deals with the development of a system to perform path planning using CAD data for an industrial robot. For the 6-DOF robot, generation of control commands considering a cutting pattern-starting point, end point and tool direction during cutting-is important. The cutting pattern is usually decided by an experienced operator. Although the best cutting patterns can be decided by precise simulation, it wastes much time. The cutting patterns were determined on the basis of the least change in attitude strategy considering with the tool configuration, which express the relationship between the attitude of cutting tool and that of robot arm. In the article, chamfering paths on a edge with a closed curve for a non-rotational cutting tool were treated as a example. From the results of the simulation and actual experiment with a robot, the system found effective to perform automatic path planning in real-time.