| 摘要 |
Workflow charts for processing (e.g., treating, machining) a workpiece with a tool of an industrial robot are automatically generated. An initial chart has a plurality of tool paths for a workpiece in a defined target position and for defined process parameters. The tool path determines the desired movement of the tool along the workpiece. A state space describing variable parameter values that impact the workpiece processing are defined. Each point in the space represents a concrete combination of possible parameter values. The space is discretized into individual states. The processing of the workpiece is simulated using the initial chart for one or several discrete states and the simulated process results are evaluated according to a pre-definable criterion. The initial chart is iteratively modified, subsequently workpiece processing is simulated using the modified chart for at least one discrete state, and the simulated processing results are evaluated with a pre-definable cost function. |
