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Authors: Heinz Wörn 1 ; Björn Hein 1 ; Detlef Mages 1 ; Berend Denkena 2 ; Rene Apitz 2 ; Pawel Kowalski 2 and Niels Reimer 3

Affiliations: 1 Institute for Process Control and Robotics (IPR), Universität Karlsruhe (TH), Germany ; 2 Institute of Production Engineering and Machine Tools (IFW), Universität Hannover, Germany ; 3 Tecnomatix GmbH, Germany

Keyword(s): robot programming, path smoothing, haptic manipulation, robot simulation, industrial robotics.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

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 several formats:
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 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 387-390. DOI: 10.5220/0001161903870390

@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 3: ICINCO},
year={2005},
pages={387-390},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001161903870390},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - COMBINING MANUAL HAPTIC PATH PLANNING OF INDUSTRIAL ROBOTS WITH AUTOMATIC PATH SMOOTHING
SN - 972-8865-30-9
IS - 2184-2809
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
PB - SciTePress