Robot Path Generation for Curve Manufacturing Processes from Unstructured CAD Data: An Off-line Programming Method

In this paper, we outline a three-step off-line programming method for generating robot trajectories for edge machining taking unstructured CAD data as input. The first step is a new graph based method to efficiently extract edges from STL models. Then NURBS techniques are applied to these edges for providing a smooth toolpath and for easy manipulation. We also show how full orientational information can be added to the NURBS curves. Finally, we present a method for approximating the NURBS curves with linear and circular segments, allowing for execution with almost all industrial robots. Our method is tested on complex industrial parts from the Danish company Bang & Olufsen FACTORY 5.