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S22 Mecatrônica |
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Title:
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A CAD/ROBOTICS SYSTEM TO "OFF-LINE" PROGRAMMING OF ROBOTS
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Summary :
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THE EFFORT PRESENTED IN THIS PAPER EXPLORES THE DEVELOPMENT OF A SYSTEM FOR PROGRAMMING ROBOTS DIRECTLY FROM CAD BASED GEOMETRIC MODELS. THE INTERACTION BETWEEN SEVERAL DIFFERENT SOFTWARE SYSTEMS TO DEFINE PATHS, TO OBTAIN THE INVERSE KINEMATICS OF ROBOTS, AND TO PREPARE DATA TO BE TRANSLATED IN A PROCEDURAL LANGUAGE FOR PROGRAMMING ROBOTS IS REQUIRED. THE CONCEPTS WERE TESTED USING A COMPUTACIONAL MODEL OF A PUMA 560 ROBOT TO FOLLOW A DEFINED PATH OVER A B-SPLINE SURFACE. CARTESIAN POSITION, VELOCITIES, AND ACCELERATIONS WERE OBTAINED FROM THE SOFTWARE SYSTEM AND ANALYZED PRIOR TO RUNNING THE CONTROL PROGRAM ON THE ROBOT. |
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Author :
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de Toledo, Leonardo B.
Deisenroth, Michael 0
Dias, Altamir 0
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Paper View :
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COBEM99
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