Method for performing e.g. robot-supported painting to surfaces of e.g. car component by industrial robot, involves performing computer-assisted planning of modified travel path for industrial robot based on mathematical model

摘要

The method involves detecting data representing state of industrial robot (50). The determination of mathematical model describing industrial robot, work piece and the disturbance is performed based on detected data. The automatic and computer-assisted planning of modified travel path for industrial robot is performed based on mathematical model so as to continue intermittent work process or to transfer workpiece in safe position. The planned travel path is automatically converted into robot program executable by robot controller (40). An independent claim is included for system for performing operation to surfaces of workpiece.