CADを用いた高水準ロボットプログラミング：不確実な環境への対応

原文アブストラクト

Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive robot programming is achieved by using CAD drawings to generate robot programs off-line. Sensory feedback allows minimization of the effects of uncertainty, providing information to adjust the robot paths during robot operation. Findings - It was found that it is possible to generate a robot program from a common CAD drawing and run it without any major concerns about calibration or CAD model accuracy. Research limitations/implications - A limitation of the proposed system has to do with the fact that it was designed to be used for particular technological applications. Practical implications - Since most manufacturing companies have CAD packages in their facilities today, CAD-based robot programming may be a good option to program robots without the need for skilled robot programmers. Originality/value - The paper proposes a new CAD-based robot programming system. Robot programs are directly generated from a CAD drawing running on a commonly available 3D CAD package (Autodesk Inventor) and not from a commercial, computer aided robotics (CAR) software, making it a simple CAD integrated solution. This is a low-cost and low-setup time system where no advanced robot programming skills are required to operate it. In summary, robot programs are generated with a high-level of abstraction from the robot language.