INDUSTRIAL ROBOT APPARATUS WITH IMPROVED TOOLING PATH GENERATION, AND METHOD FOR OPERATING AN INDUSTRIAL ROBOT APPARATUS ACCORDING TO AN IMPROVED TOOLING PATH

摘要

An apparatus (1) for performing an industrial working operation on a workpiece (2) comprises: an anthropomorphous robot (3) comprising an end effector (10) including a 2D laser scanner (13) and a working tool (12); an RTOS computer (4); and a robot controller (5). The computer (4) provides successive positional data along a scanning path to robot controller (5), and a synchronization signal (17) directly to input port (16) of the 2D laser scanner (13), thereby commanding successive scanning operations on the workpiece (2) in synchronism with successive poses of the end effector (10), to acquire 3D shape information about the workpiece (2). The working tool (12) is operated while the end effector (10) is subsequently moved along a tooling path and/or is moved along a combined scanning and tooling path. An apparatus for acquiring a shape of an object arranged at a working area and methods are further disclosed.