Automatic Path Planning for Door-Milling Application Using an Industrial Robot
Abstract
This report covers automatic path planning for a 6 degree of freedom industrial robot used
in a milling application. The kinematics are derived for the ABB IRB6600 robot used in this
master thesis. Different sensors for determining the work-object pose in relation to the robot
are evaluated, and a suggested vision system is presented and tested. When industrial robots
are used in high precision contact applications, such as milling, the robot stiffness must be
considered. Therefore, a joint stiffness analysis is conducted for the ABB IRB6600. The results
from the stiffness analysis are, in addition to the milling force data, used to compensate
for deflection when generating the robot path trajectory. The same data is also used to find
favourable operation configurations for the robot. Important elements when using an industrial
robot in a milling application are presented and evaluated to assure a good end-product. Finally,
a method for automatic generation of robot path trajectory, extracted from a database,
containing door data is presented. Here, the previously mentioned sensor system is used in
addition to the path generation code to create a *.txt file, which can be read by RAPID code.
The RAPID code is further executed by the robot to mill the desired features in the door.
Description
Master's thesis Mechatronics MAS500 - University of Agder 2018