Off-Line Programming and Path Generation for Robot Manipulators

Abstract

An interactive computer graphics system has been developed which allows an operator to more readily plan and evaluate robot tasks. The program gives the operator the ability to plan and preview manipulator motions on a graphics screen prior to commanding the robot to execute the desired function. The motion planning and path evaluation algorithms developed for the system serve as a basis for the development of autonomous control algorithms to be utilized in materials handling and logistics support operations. This system is currently operational at Belvoir RD&E Center’s Robotics Laboratory, providing host control for two Cincinnati Milacron industrial robots. The robotics facility serves as a test bed for continuing research in the areas of materials handling, logistics support and countermine technology.