Automatic location editing of assembly robot programs

Abstract

This chapter examines the programming task required by a robot workstation within a flexible assembly system. A system is described which optimises programming by use of off-line programming and automatic location editing. The system uses a robot equipped with two simple two state touch sensors which are manipulated to provide redundant data capable of accurately describing various types of 5 or 6 degree of freedom locations. Locations are determined by automatic search routines and edit algorithms, which enables automatic calibration of the sensors. The implications of the results are discussed and it is concluded that automatic location editing can increase both productivity and flexibility of assembly workstation.