Collision free motion planning for robots by capturing the environment

Abstract

More and more industrial robots are being used in SMEs. Due to the lack of CAD models, they are rarely programmed using offline programming methods. With the methods presented in this paper, missing 3D maps of the environment can be flexibly created and even inexperienced operators can be enabled to program complex, collision-free motion sequences. In addition, already programmed sequences can be optimized by the downstream motion planning. The presented method also allows the omitting of intermediate points in complex sequences, which significantly reduces commissioning time and complexity.