A Graphical User Interface for Industrial Robot Programming in Non-Repetitive Tasks

摘要

A graphical user interface (GUI) used to facilitate the programming of an industrial robot is currently under development. In the work described herein, robot programming is understood as the process of defining a set of robot configurations that enable an accurate, three-dimensional positioning of a tool held by the manipulator over a fixed, arbitrary, smooth surface. The GUI uses a patented, vision-based method known as Camera-Space Manipulation. This paper introduces some of the basic ideas employed in the implementation of the GUI. The proposed system was tested using an industrial robot and preliminary experimental results that show the accuracy of the proposed methodology are also presented.