Industrial robotic device with improved tooling path generation, and method for operating industrial robotic device according to improved tooling path

摘要

An apparatus 1 for performing an industrial machining operation on a workpiece 2 includes: a humanoid robot 3 including a 2D laser scanner 13 and an end effector 10 including a machining tool 12 ; RTOS computer (4); and a robot controller 5 . The computer 4 provides continuous position data along the scanning path to the robot controller 5 and a synchronization signal 17 directly to the input port 16 of the 2D laser scanner 13, whereby the end effector 10 ), by commanding a continuous scanning operation on the workpiece 2 in synchronization with the continuous pose of the workpiece 2, 3D shape information about the workpiece 2 is acquired. The machining tool 12 is actuated 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 and method for obtaining the shape of an object arranged in a processing area are further disclosed.