COMBINING MANUAL HAPTIC PATH PLANNING OF INDUSTRIAL ROBOTS WITH AUTOMATIC PATH SMOOTHING

Heinz Wörn, Björn Hein, Detlef Mages, Berend Denkena, Rene Apitz, Pawel Kowalski, Niels Reimer

Abstract

Nowadays, industrial robots are preferably programmed offline, i.e. without interference with the real cell and running production processes. Usually a simulation tool is used to manually define individual locations and to check the created raw path for possible collisions. Within this paper an approach is presented, that combines a haptic input device by means of automated path smoothing. The quality of the generated path can be significantly improved by subsequent automatic filtering. Removing redundant locations or modifying intermediate ones increases the smoothness of the path. The semi-automatic programming paradigm with haptic interaction is expected to lead to an improved workflow for robot offline programming.

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Paper Citation


in Harvard Style

Wörn H., Hein B., Mages D., Denkena B., Apitz R., Kowalski P. and Reimer N. (2005). COMBINING MANUAL HAPTIC PATH PLANNING OF INDUSTRIAL ROBOTS WITH AUTOMATIC PATH SMOOTHING . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 387-390. DOI: 10.5220/0001161903870390


in Bibtex Style

@conference{icinco05,
author={Heinz Wörn and Björn Hein and Detlef Mages and Berend Denkena and Rene Apitz and Pawel Kowalski and Niels Reimer},
title={COMBINING MANUAL HAPTIC PATH PLANNING OF INDUSTRIAL ROBOTS WITH AUTOMATIC PATH SMOOTHING},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={387-390},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001161903870390},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - COMBINING MANUAL HAPTIC PATH PLANNING OF INDUSTRIAL ROBOTS WITH AUTOMATIC PATH SMOOTHING
SN - 972-8865-30-9
AU - Wörn H.
AU - Hein B.
AU - Mages D.
AU - Denkena B.
AU - Apitz R.
AU - Kowalski P.
AU - Reimer N.
PY - 2005
SP - 387
EP - 390
DO - 10.5220/0001161903870390