Autonomous path generation platform for robot simulation

摘要

The complex requirements associated with the robot research has given a challenge for software developers to think about the easy development process, cost effectiveness, and user-friendly environment. As a result, an offline CAD-based tool for technical computing industry is developed using a visual studio with open cascade (OCC) libraries to generate a path for robot simulation. In the present approach, OCC environment is developed to import CAD model of the robot manipulator and workpieces without the need of integrating with commercial CAD packages. In addition, the developed system provides important steps: extracting CAD information for path planning, checking the reachability of manipulators, and simulating the motion to check and avoid the possible collision before mapping to a real site. Using the extracted information, the robot manipulator can then automatically follow a path generated by the OCC geometric kernels. The path generation tool based on the OCC platform is more efficient and easier to develop for various applications. The simulation platform developed in this work can serve as an independent and valuable development tool in the intelligent automation industry.