| 摘要 |
For programming an industrial robot (60) to work on a workpiece (30, 120), the robot (60) is provided with a vision system (10) capable of extracting a point cloud (20, 110) of the workpiece, extracting a set of points from the contour of the workpiece (30, 120) as seen by the vision system. The point cloud (20, 110) extracted from the workpiece (30, 120) is turned into a workpiece CAD model (40, 130) comprising at least one surface. Interaction of the robot (60) with the workpiece (30, 120) is prescribed in a computer based environment (50) in order to define a robot path (70, 140) so that the tool of the roboter is able to deposit a glue path on the workpiece. |
