Robot Programming in Machining Operations

Abstract

Driven by the need for higher -flexibility and -speed during initial programming and path adjustments, new robot programming methodologies quickly arises. The traditional "Teach" and "Offline" programming methodologies have distinct weaknesses in machining applications. "Teach" programming is time consuming when used on freeform surfaces or in areas with limited visibility /accessibility. Also, "Teach" programming only relates to the real work-piece and there is no connection to the ideal CAD model of the work-piece. Vice versa during offline programming there is no knowledge about the real work-piece, only the ideal CAD model is used. To be able to relate to both the real-and ideal-model of the work-piece is especially important in machining operations where the difference between the models often represents the necessary material removal (Solvang et al., 2008 a). In this chapter an introduction to a programming methodology especially targeted for machining applications is given. This methodology use a single camera combined with image processing algorithms like edge-and colour-detection, combines information of the real and ideal work-piece and represents a human friendly and effective approach for robot programming in machining operations.