Programming of Industrial Robots Using a Laser Tracker

Area of Science:

• Robotics
• Metrology
• Manufacturing Engineering

Background:

• Industrial robot path programming traditionally requires direct robot use, which can be time-consuming and limit accessibility.
• Ensuring high accuracy and repeatability in robot paths is critical for precision manufacturing processes.
• Laser trackers offer advanced metrology capabilities for precise spatial measurements.

Purpose of the Study:

• To present a new method for programming industrial robot paths using a laser tracker.
• To detail the operational principles, applications, and accuracy of laser trackers in this context.
• To develop and implement an automated algorithm for robot path programming.

Main Methods:

• Utilizing a laser tracker and a retroreflector to determine robot path points, bypassing the need for the robot during programming.
• Characterizing industrial robot parameters, including repeatability, accuracy, and the Absolute Accuracy option.
• Developing a method based on robot accuracy and coordinate system transformations, implemented in the Rapid programming language.

Main Results:

• The developed method allows path programming without direct robot involvement, using a programmer-guided retroreflector.
• An algorithm was implemented in Rapid to automate the programming process, improving efficiency.
• Demonstrated successful application in programming a robot path for a grinding process, with characterized limitations and achieved accuracies.

Conclusions:

• The laser tracker method offers a viable and accurate alternative for industrial robot path programming.
• This approach enhances programming flexibility and potentially reduces programming time and costs.
• The method's effectiveness is validated through practical application and comparison with existing solutions.