Then the tool path has to be generated through Edge, Surface, Curve and so on, as shown in Figure 1. However, CAD to Path is based on a CAD model which needs to be created or modified if it is not in the current library. CAD to Path programming takes advantage of the information stored in the IGES file of a CAD model, and greatly improve the process to construct a trajectory of an end of arm tooling (EOAT) (Veiga, 2013). What is notable about Roboguide is its CAD to Path programming, which can import CAD data and generate a path based on it (Li, 2007). It also can perform collision detection, reach verification, cycle time calculation, and other operations. With Roboguide, 122 Daniel Webster College 2016Ģ the virtual 3D work cell can be set up easily through selecting and modifying various parts from its extensive library (Sakakibara, 2003).
FANUC PAINT PRO SOFTWARE
Roboguide is a robot simulation software developed by FANUC, which includes a family of products such as HandlingPRO, PaintPRO, PalletPRO, and so on (FANUC, 2016).
FANUC PAINT PRO OFFLINE
Offline programming method is fast, cost effective and can significantly reduce down time (Kumičáková, 2015). Teaching programs can be developed, simulated and validated in the virtual work cell, and then be uploaded to the real robots to execute the operations. Offline programming methods create a virtual 3D work cell in which the position and orientation of a robot can be taught by a virtual teach pendant, by dragging and dropping with a mouse, or by inputting position data directly (Pan, 2012). Though this method is still most commonly used (Schraft 2006), offline programming software has been developed to construct a tool path automatically. After all points along the path have been learned, the robot can play back to accomplish a given task. Traditionally, a tool path is taught by an operator manually, i.e., the operator jogs the robot through the trajectory and records points one at a time using a teach pendant. However, to generate a tool path can be tedious and time-consuming. The features of the planned path can greatly affect the quality of products (Sheng, 2000). Introduction Path planning is very important for painting robots and wielding robots which are widely used in automotive manufacturing. In this case, using Targets feature to generate a tool path is much faster than both the tedious teach pendant method and the CAD to Path programing. These points were introduced to the work cell as targets, and the robot followed these targets to complete the drawing.
FANUC PAINT PRO SERIES
The robot was designed to draw a portrait constructed through connections of a series of points. In this paper, a FANUC LR Mate 200id/4s was used to simulate how a human being would draw through the Targets feature. The Targets feature of Roboguide can be utilized to visualize and verify path planning for robot arms. Roboguide, developed by FANUC, is a family of offline simulation software products which can simulate operations in work cells and construct tool paths automatically.
Though this method is still most commonly used, offline programming software becomes more competitive since they are cost efficient. 1 Using Targets in Roboguide to Visualize Path Planning of a FANUC Robot Ming Li Department of Computer Science, Engineering and Physics University of Michigan-Flint Abstract Traditionally, a tool path of a robot is taught by an operator manually using a teach pendant to record all points along the path.
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