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This paper presents a method to optimize the positions of robot tasks in a robotic work cell in terms of minimum cycle time. In order to improve the efficiency of the overall algorithm, the method is proposed to be decomposed into 3 stages. Firstly, a good position for each task is derived by putting such robot task to a preferred region; secondly, based on(More)
The industrial robot plays an increasingly important role in manufacturing industry, but it is limited by its high prerequisite of programming on users, which is time consuming and challenging. In this context, a mechanism enabling autoprogram of robot is desired. Learning from demonstration system (LDS) is one of systems that aim on this goal. In this(More)
A lead-through robot programming solution with a 6-DOF motion tracking device is presented. The motion tracking device is flexible-linked and can be fixed on the end-effector of a robot to realize lead-through teaching. The programming solution covers data acquiring from the six string sensors of the motion tracking device, data processing, kinematical(More)
It¿s currently the market trend to make industrial robot easy to use. This paper analyzed the key areas and identified key bottlenecks that stop a robot simulation and offline programming tool to be intuitive and easy to use. The key areas are geometrical model handling, robot targets and paths handling, path configuration planning, etc. Based on the(More)
Robot-centered cells play a more and more important role in the fields of incorporate automation and repetitive processing in order to increase productivity and to improve quality. In practice, it is always desired to achieve maximum/near-maximum throughput in a robotic cell. Sometimes, even a small improvement in throughput will be one of the highlighted(More)
In robot programming by demonstration (PBD) for assembly tasks, one of the important topics is to inference the poses and spatial relations of parts during the demonstration. In this paper, we propose a world model called assembly graph (AG) to achieve this task. The model is able to represent the poses of all parts, the relations, observations provided by(More)
This paper presents an algorithm to remove fake boundaries from a mesh model. Both complexity analysis and experimental results prove that this algorithm is high-speed. This is so because it is based on sets operation while calculation is avoided as more as possible. With help of a special data-structure, almost all vertexes/edges out of a bounding box are(More)
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