The use of a graphical system for the programming of industrial robots offers a number of advantages. Graphical systems employ an interface that is much easier to use. The resulting motion trajectories can be simulated and tested for collisions or singular points. Contemporary graphical systems use the geometry of the objects that are to be handled or processed in order to generate robot motion trajectories. Robot motions are however constrained by the process requirements which should be one of the main sources of the generation of robot motion trajectories. In this article the methodology of the generation of the robot motion trajectories in three commercial systems is examined as well as the requirements of process-related robot programming with special emphasis on high-quality arc welding.
|Title of host publication
|Subtitle of host publication
|Advanced Techniques and Applications
|Published - 1992
|Microprocessor-Based and Intelligent Systems Engineering
- Engineering and Technology