Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input
Steffen Madsen Milad Jami Henrik G. Petersen Steffen Madsen Milad Jami Henrik G. Petersen
In this paper, a new method for offline programming part assembly operations with tight fittings is presented. More specifically, an assembly process trajectory generator with self programming capabilities is developed where the user needs to provide only very sparse and intuitive input. The presented system is added to the existing skill based robot software package VEROSIM. In VEROSIM, the traje...