High-level robot programming based on CAD: dealing with unpredictable environments

TL;DR

This paper introduces a CAD-based human-robot interface enabling non-experts to teach robots using CAD drawings, with sensory feedback to handle uncertainties, simplifying robot programming in manufacturing environments.

Contribution

It presents a novel CAD-based robot programming system that generates robot programs directly from CAD drawings without needing advanced robot programming skills.

Findings

Robot programs can be generated from CAD drawings without calibration issues.

The system effectively handles uncertainties during robot operation.

It offers a low-cost, easy-to-use alternative to traditional robot programming methods.

Abstract

Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive robot programming is achieved by using CAD drawings to generate robot programs off-line. Sensory feedback allows minimization of the effects of uncertainty, providing information to adjust the robot paths during robot operation. Findings - It was found that it is possible to generate a robot program from a common CAD drawing and run it without any major concerns about calibration or CAD model accuracy. Research limitations/implications - A limitation of the proposed system has to do with the fact that it was designed to be used for particular technological applications. Practical implications - Since most manufacturing companies have CAD packages in their facilities today, CAD-based robot programming may be a good option to program robots without the need for skilled robot programmers. Originality/value - The paper proposes a new CAD-based robot programming system. Robot programs are directly generated from a CAD drawing running on a commonly available 3D CAD package (Autodesk Inventor) and not from a commercial, computer aided robotics (CAR) software, making it a simple CAD integrated solution. This is a low-cost and low-setup time system where no advanced robot programming skills are required to operate it. In summary, robot programs are generated with a high-level of abstraction from the robot language.