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Path planning for industrial robots in car industry

I. Bremer

Cooperation with: Rücker Ges.m.b.H (Graz, Austria)

Description:

Industrial robots are used in a wide range of applications in car industry. In the planning phase, we use simulations of the production process based on a VR-environment to get recommendations for the placement of the robots, the model choice for the time-behavior and other problems. In our project we treated a concrete, real-life problem: the path optimization for adhesive and sealant seams.

Last year's results have been used for computing optimized speed profiles. The resulting seam depends on several parameters: the rotation number of the jet head, the flow rate, the speed of TCP (tool center point), the distance from TCP to the surface.

Data from measurements have been used to build an extrapolation table to get the width of the seam for given parameters. To simplify the mathematical model we replaced the rotating spray jet (or head) by a ring (as some kind of averaging).

The simulation for the seam creation in real-time was done by an appropriate time and space discretization in a 3D-VR-environment based on SGI performer for OpenGl.

The discretized model for the required seam was explicitly given to us or we extracted it from a CAD-made 3D graphical seam model. We adjust the place, width and height of the computed seam to that of the required seam by an optimization step.

As a brief description of the algorithm we have

  start speed profile
  loop
    simulation of putting the material on the surface in realtime
    computing the difference between the resulting seam 
      and the required seam
    correction of speed profile
  endloop

Fig. 1: Screen-shoot: grid of a resulting seam on a table with different given distances of TCP

Fig. 2: Comparison of measured heights (thicknesses) of seams with simulated ones

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