Automated robot programming based on sensor fusion

摘要

Purpose Aims to demonstrate how an automated robot program generation method can be developed and implemented. Design/methodology/approach A visual and force servoing method to automatically generate robot paths and robot programs, based on position, force and vision sensor fusion, was developed. Findings By using a hybrid control algorithm the robot is controlled to follow the feature on a surface with position and orientation control. Originality/value The developed method can be applied to generate tool paths for many manufacturing tasks automatically, which can greatly reduce the robot programming time and decrease the manufacturing cost.