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NL2015839B1 - A method of, as well as an industrial robot for performing a processing step at a work piece. - Google Patents

A method of, as well as an industrial robot for performing a processing step at a work piece. Download PDF

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Publication number
NL2015839B1
NL2015839B1 NL2015839A NL2015839A NL2015839B1 NL 2015839 B1 NL2015839 B1 NL 2015839B1 NL 2015839 A NL2015839 A NL 2015839A NL 2015839 A NL2015839 A NL 2015839A NL 2015839 B1 NL2015839 B1 NL 2015839B1
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Netherlands
Prior art keywords
industrial robot
workpiece
processing step
work piece
processing
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NL2015839A
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Dutch (nl)
Inventor
Johan Exner Emil
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Exner Ingenieurstechniek B V
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Priority to NL2015839A priority Critical patent/NL2015839B1/en
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Publication of NL2015839B1 publication Critical patent/NL2015839B1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36048—Verify, probe workpiece, if position deviation edit, modify program
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36053—Adapt, modify program in real time as function of workpiece configuration

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Laser Beam Processing (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

A method of performing a processing step at a work piece, with an industrial robot, said industrial robot comprising a laser scanner device for scanning said work piece, a process tool for performing said processing step and a processing unit for controlling said industrial robot, said method comprising the steps of providing said work piece, scanning, by said laser scanner device, said work piece, thereby generating a point cloud representation of said work piece, defining, by said processing unit, a possible location at said work piece for performing said processing step based on meta data obtained by analysing said point cloud representation of said work piece, requesting, by said processing unit, either input from an operator or a central database whether to perform said processing step at said possible location of said work piece, and performing, by said industrial robot, said processing step, such as a welding step, at said possible location based on a positive input from either one of said operator and said central database.

Description

Title: A method of, as well as an industrial robot for performing a processing step at a work piece.
Description
The present invention relates to a method of performing a processing step at a work piece, with an industrial robot comprising a process tool for performing said processing step and a processing unit for controlling said industrial robot. Conventionally, an industrial robot is programmed using either a computer aided design, CAD, or an operator instructing the industrial robot, physically, what to do.
In case an industrial robot is programmed using a CAD based system, users with basic CAD skills are allowed to generate robot programs off-line. A three Dimensional CAD package offers the user possibilities to extract information from the CAD, like position and orientation of the work piece in space, and provides techniques to treat and/or convert these type of information into robot commands. As such, the user is able to program the robot by indicating, at the CAD, the locations at which the processing step should be performed. The programmed industrial robot is then able to perform the processing steps consecutively at different work pieces, as long as the different work pieces are placed at the exact same location each time.
As mentioned above, the industrial robot can also be programmed manually, physically, by an operator. In this case, the operator moves the industrial robot, more specifically the process tool, to the locations at the work piece at which the processing step is to be performed. A drawback of these known programming methods is that these methods are not able to cope with alignment issues of the work piece. That is, as the industrial robot is programmed to perform the processing step at certain predefined locations, it is important that the work pieces are located and oriented correctly. A displaced work piece, or a work piece that is offset, causes alignment issues.
It is therefore an object of the invention to provide a method of performing a processing step at a work piece, with an industrial robot, which alleviates or reduces the above acknowledged drawback of the prior art, and in particular is able to cope with alignment issues of the work piece in a flexible manner.
To this end, the invention provides a method of performing a processing step at a work piece, with an industrial robot, said industrial robot comprising a laser scanner device for scanning said work piece, a process tool for performing said processing step and a processing unit for controlling said industrial robot, said method comprising the steps of: providing said work piece; scanning, by said laser scanner device, said work piece, thereby generating a point cloud representation of said work piece; defining, by said processing unit, a possible location at said work piece for performing said processing step based on meta data obtained by analysing said point cloud representation of said work piece; requesting, by said processing unit, either input from an operator or a central database whether to perform said processing step at said possible location of said work piece; performing, by said industrial robot, said processing step, such as a welding step, at said possible location based on a positive input from either one of said operator and said central database.
It was the insight of the inventor that alignment issues can be resolved in case the industrial robot is equipped with a laser scanner device for scanning the work piece. The exact location and orientation of the work piece are determined, by the laser scanner device, such that the industrial robot is able to perform the processing step at the correct location of the work piece.
Another advantage of the present invention is that the programming of the industrial robot is made easier. The industrial robot is able to define possible locations at said work piece for performing the processing step, based on meta data obtained by analysing the point cloud representation of the work piece. The industrial robot may consult input from a central database to check whether a same, or similar, processing step is performed based on the meta data obtained, for example at the same, or similar, location of the work piece.
So, in case the industrial robot has determined that a corresponding processing step has been performed, i.e. the corresponding step is recorded in the central database, the industrial robot may decide that the same processing step may be performed at a corresponding location and/or orientation. In such a case, it is much easier to program the industrial robot as the industrial robot already provides for suggestions for performing processing steps at different locations of the work piece.
Typically, an industrial robot is defined as an automatically controlled, reprogrammable, multipurpose manipulator programmable in two, three or more axes.
The field of robotics may be more practically defined as the study, design and use of robot systems for manufacturing.
According to the present invention, the laser scanner device may comprise a laser and one or more camera’s. The combination of these camera’s and the laser accomplish that the work piece is being scanned. This generates a point cloud representation of the work piece. A point cloud is a set of data points in some coordinate system. In a three-dimensional coordinate system, these points are usually defined by X, Y, and Z coordinates, and often are intended to represent the external surface of the work piece. The laser scanner device is arranged to measure a large number of points on the surface of a work piece, and to output a point cloud as a data file or data set. The point cloud representation represents the set of points that the laser scanner device has measured.
According to the present invention, the laser scanner device is able to scan the work piece in a three dimensional manner. As such, the precise location of the work piece is being determined, but also the orientation of the work piece. This means that the industrial robot is able to correct for offsets in the location of the work piece and to correct for any orientation offset of the work piece, thereby enabling a much more efficient, accurate, processing step at the end.
Possible locations at the work piece for performing the processing step are defined once the point cloud representation of the work piece has been generated. To do so, meta data relating to the point could representation of the work piece are generated. Such meta data may, for example, relate to solid objects that can be recognized in the point cloud representation, or particular shapes of, or in, the point cloud representation, or irregularities or imperfections present in the point cloud representation, etc.
The industrial robot may decide to perform the processing step automatically, or may decide to request input from an operator, in case similar meta data is already present in the central database.
Another advantage of the present invention is that the industrial robot is able to recognise deviations in the product quality and/or process reliability, and to automatically correct for these deviations automatically.
In an example, input is requested from said operator, and the method further comprises the step of: storing, by said processing unit, said meta data in relation to said possible location in said central database for subsequent reference.
The advantage hereof is that the industrial robot is able to perform the processing step at a same, or similar, location in case the same meta data related to the point cloud representation of a further work piece is obtained. That is, in case the same, or similar, meta data for a particular location is obtained for a further work piece compared to the meta data stored by the processing unit, the industrial robot may decide to perform the same processing step at that location.
In another example, the input is requested from said central database, wherein said method further comprises the step of: correlating said obtained meta data with any meta data comprised in said database.
In a further example, the step of analysing the point cloud representation comprises: - recognizing, by said processing unit, individual separate objects in said point cloud representation of said work piece.
In many practical situations it is desirable to recognize individual separate objects in the point cloud representation of the work piece, for example for welding purposes. The industrial robot may, for example, determine that two solid objects are to be welded together, i.e. during the processing step, in case both objects touch each other. This further simplifies the programming process of the robot.
In an example, the step of defining a possible location at said work piece further comprises: defining said possible location to be an intersection between said recognized individual separate objects.
The intersection is, for example, used for welding the individual separate objects together.
In an example, the processing step is any of a welding step, a drilling step, a deburring step, a laser cutting step, a grabbing step and an assembling step. Many other processing steps are also possible like milling, tapping, turning, filing, drilling, sawing, boring, broaching (or broaching), grinding, honing, lapping, scraping and stabbing. Other examples may include rolling, deep drawing presses, punching, laser machining, welding, spark eroding, cutting, welding, forging, casting, flow drilling and bending.
In accordance with the present invention, the step of requesting input from an operator may further comprise: wirelessly sending, by said processing unit, said request to a computing device like a tablet or the like; requesting and receiving, by said computing device, input from the operator; wirelessly sending, by said computing device, said received input to said processing unit.
According to a second aspect of the invention, there is provided an industrial robot for performing a processing step at a work piece, said industrial robot comprising: - a process tool arranged for performing said processing step; - a laser scanner device arranged for scanning said work piece thereby generating a point cloud representation of said work piece; - a processing unit arranged for defining a possible location at said work piece for performing said processing step based on meta data obtained by analysing said point cloud representation of said work piece, and arranged for requesting either input from an operator or a central database whether to perform said processing step at said possible location of said work piece; performing, by said industrial robot, said processing step, such as a welding step, at said possible location based on a positive input from either one of said operator and said central database.
In accordance with the present invention, different aspects applicable to the above mentioned examples of the method, including the advantages thereof, correspond to the aspects which are applicable to the industrial robot according to the present invention.
In an example, the industrial robot comprises said central database, said industrial robot further comprises: storing means arranged for storing said meta data in relation to said possible location in said central database for subsequent reference.
In another example, the processing unit is arranged for correlating said obtained meta data with any meta data comprised in said database.
In an example, the processing unit is further arranged for recognizing, by said processing unit, individual separate objects in said point cloud representation of said work piece.
In a further example, the processing unit is further arranged for defining said possible location to be an intersection between said recognized individual separate objects.
In an example, the processing step is any of a welding step, a drilling step, a deburring step, a laser cutting step, a grabbing step and an assembling step, or the like.
The above-mentioned and other features and advantages of the invention will be best understood from the following description referring to the attached drawings. In the drawings, like reference numerals denote identical parts or parts performing an identical or comparable function or operation
Brief description of the drawings
Figure 1 discloses a flow chart illustrating an embodiment of a method according to the present invention.
Figure 2 discloses a block diagram illustrating an embodiment of an industrial robot according to the present invention.
Figure 1 is discloses a flow chart 1 illustrating an embodiment of a method of performing a processing step at a work piece, with an industrial robot, said industrial robot comprising a laser scanner device for scanning said work piece, a process tool for performing said processing step and a processing unit for controlling said industrial robot.
The method comprising the steps of providing 2 the work piece. The work piece may, for example, be a profile, a car, a trailer, packaging, etc. The inventions is not limited to any type or size of work piece. Providing means that the work piece is located within the range of the industrial robots such that the industrial robot is able to perform the processing step.
Next, the work piece is scanned 3 by the laser scanner device, thereby generating a point cloud representation of the work piece. In practical situations the industrial robot moves the laser scanner device along the provided work piece, such that the exact location and the orientation of the work piece is being determined. This enables the industrial robot to exactly know what the location of the work piece relative to the industrial robot is, and what the orientation of the work piece is.
In the next step, the processing unit defines 4 a possible location at the work piece for performing the processing step based on meta data obtained by analysing the point cloud representation of the work piece. The point cloud representation of the work piece is typically a three dimensional representation of the provided actual work piece, wherein the representation also entails the orientation of the work piece. Meta data can be obtained by analysing this representation. For example, the processing unit may recognize individual separate objects in the point cloud representation of the work piece. The processing unit may also recognize particular shapes or through holes at the work piece. The processing step may then be correlated with the recognized separate objects and/or the recognized particular shapes or through holes. For example, the processing unit may indicate that two recognized separate objects may be welded together at the possible location.
In order to perform the processing step, the processing unit first requests 5 either input from an operator or a central database whether to perform the processing step at the possible location of the work piece. It is preferred that a central database contains meta data of locations at which the industrial robot had previously performed the processing step. This enables the industrial robot to compare, i.e. correlate, the obtained meta data with any meta data available in the central database. In case of a match, the industrial robot may, automatically, perform the processing step, thus without requesting the operator to do so. Alternatively, the processing unit may request confirmation from the operator whether the possible location, and the intended processing step, is correct. The processing step is then performed upon confirmation by the operator.
Finally, the industrial robot performs 6 the processing step, such as the above identified welding step, at the possible location based on a positive input from either one of the central database of the operator.
The processing step may be related to any type of material handling step, like a drilling step, a deburring step, a laser cutting step, a grabbing step and an assembling step. This above does not exclude any other types of material handling steps.
Figure 2 discloses a block diagram 51 illustrating an embodiment of an industrial robot for performing a processing step at the work piece, according to the present invention.
According to the present invention, an industrial robot is an automatically controlled, reprogrammable, multipurpose manipulator programmable in two or more axes, which may be either fixed in place or mobile for use in, for example, industrial automation applications.
The industrial robot comprises a process tool 55 arranged for performing the processing step. The process tool 55 may be, for example, a welding tool, a drilling tool, a deburring tool, a laser cutting tool, a grabbing tool, etc. The present invention is not limited to any type of process tool 55.
Further, a laser scanner device 54 is provided arranged for scanning the work piece, thereby generating a point cloud representation of the work piece. The laser scanner device 54 may comprise a laser for emitting a laser beam, and one or more camera’s for obtaining images. Several techniques exist for determining the location, and orientation, of the work piece based on a laser scanner device. In an example, the return flight time of the laser beam is measured to determine distance to a particular point at which the laser beam is reflected. The laser scanner device 54 is able to aim, i.e. direct, the laser beam all over the work piece, such that the complete work piece is being scanned. Alternatively, laser scanner device 54 emits a single, non-directable, laser beam and the industrial robot, or an arm of the industrial robot, is able to direct the laser beam by directing the laser scanner device 54 as a whole.
The industrial robot further comprises a processing unit 52, in connection with a memory 53, for defining a possible location at the work piece for performing the processing step based on meta data obtained by analysing the point cloud representation of the work piece, and for requesting either input from an operator or a central database 57 whether to perform the processing step at the possible location of the work piece.
Finally, the industrial robot is able to perform, using the process tool 55, the processing step at the possible location based on a positive input from either one of the operator and the central database 57.
The storing means may store the meta data obtained by the processing unit 52 once the processing step has been completed.
The present invention is not limited to the embodiments as disclosed above, and can be modified and enhanced by those skilled in the art beyond the scope of the present invention as disclosed in the appended claims without having to apply inventive skills.

Claims (12)

1. Werkwijze van het uitvoeren van een verwerkingsstap op een werkstuk, met een industriële robot, de industriële robot omvattende een laserscannerinrichting voor het scannen van het werkstuk, een verwerkingsgereedschap voor het uitvoeren van de verwerkingsstap en een verwerkingseenheid voor het sturen van de industriële robot, welke werkwijze de stappen omvat van het: verschaffen van het werkstuk; scannen, door de laserscannerinrichting, van het werkstuk, daarbij het genereren van een puntwolkrepresentatie van het werkstuk; definiëren, door de verwerkingseenheid, van een mogelijke locatie op het werkstuk voor het uitvoeren van de verwerkingsstap op basis van metadata verkregen door het analyseren van de puntenwolkrepresentatie van het werkstuk; verzoeken, door de verwerkingseenheid, van óf invoer van een operator óf een centrale databank voor het uitvoeren van de verwerkingsstap op de mogelijke locatie van het werkstuk; uitvoeren, door de industriële robot, van de verwerkingsstap, zoals een lasstap, op de mogelijke locatie op basis van een positieve invoer van óf een van de operator óf de centrale databank.A method of performing a processing step on a workpiece, with an industrial robot, the industrial robot comprising a laser scanner device for scanning the workpiece, a processing tool for performing the processing step and a processing unit for controlling the industrial robot, the method comprising the steps of: providing the workpiece; scanning, by the laser scanner device, the workpiece, thereby generating a point cloud representation of the workpiece; defining, by the processing unit, a possible location on the workpiece for performing the processing step based on metadata obtained by analyzing the point cloud representation of the workpiece; requesting, by the processing unit, either input from an operator or a central database for performing the processing step at the possible location of the workpiece; execution, by the industrial robot, of the processing step, such as a welding step, at the possible location on the basis of a positive input from either one of the operator or the central database. 2. Werkwijze van het uitvoeren van een verwerkingsstap op een werkstuk volgens conclusie 1, waarin de invoer is verzocht van de operator, welke werkwijze verder de stap omvat van het: opslaan, door de verwerkingseenheid, van de metadata in relatie met de mogelijke locatie in de centrale databank voor opeenvolgende referentie.A method of performing a processing step on a workpiece according to claim 1, wherein the input is requested from the operator, which method further comprises the step of: storing, by the processing unit, the metadata in relation to the possible location in the central database for consecutive reference. 3. Werkwijze van het uitvoeren van een verwerkingsstap op een werkstuk volgens een van de voorgaande conclusies, waarin de invoer is verzocht van de centrale databank, waarin de werkwijze verder de stap omvat van het: correleren van de verkregen metadata met een metadata vervat in de databank.A method of performing a processing step on a workpiece according to any of the preceding claims, wherein the input is requested from the central database, wherein the method further comprises the step of: correlating the obtained metadata with a metadata contained in the database. 4. Werkwijze van het uitvoeren van een werkwijze voor het uitvoeren van een verwerkingsstap op een werkstuk volgens een van de voorgaande conclusies, waarin de stap van het analyseren van de puntenwolkrepresentatie omvat het: herkennen, door de verwerkingseenheid, van individuele afzonderlijke objecten in de puntenwolkrepresentatie van het werkstuk.A method of performing a method of performing a processing step on a workpiece according to any of the preceding claims, wherein the step of analyzing the point cloud representation comprises: recognizing, by the processing unit, individual individual objects in the point cloud representation of the workpiece. 5. Werkwijze van het uitvoeren van een verwerkingsstap op een werkstuk volgens conclusie 4, waarin de stap van het definiëren van een mogelijke locatie op het werkstuk verder omvat het: definiëren van de mogelijke locatie als een kruispunt tussen de herkende individuele afzonderlijke objecten.The method of performing a processing step on a workpiece according to claim 4, wherein the step of defining a possible location on the workpiece further comprises: defining the possible location as an intersection between the recognized individual individual objects. 6. Werkwijze van het uitvoeren van een verwerkingsstap op een werkstuk volgens een van de voorgaande conclusies, waarin de verwerkingsstap een is van een lasstap, een boorstap, een ontbraamstap, een lasersnijstap, een grijpstap en een assembleerstap.A method of performing a processing step on a workpiece according to any of the preceding claims, wherein the processing step is one of a welding step, a drilling step, a deburring step, a laser cutting step, a gripping step and an assembling step. 7. Industriële robot voor het uitvoeren van een verwerkingsstap op een werkstuk, waarbij de industriële robot omvat: een verwerkingsgereedschap ingericht voor het uitvoeren van de verwerkingsstap; een laserscannerinrichting ingericht voor het scannen van het werkstuk daarbij het genereren van een puntenwolkrepresentatie van het werkstuk; een verwerkingseenheid ingericht voor het definiëren van een mogelijke locatie op het werkstuk voor het uitvoeren van de verwerkingsstap op basis van metadata verkregen door het analyseren van de puntenwolkrepresentatie van het werkstuk, en ingericht voor het verzoek van invoer van óf van een operator óf van een centrale databank voor het uitvoeren van de verwerkingsstap op de mogelijke locatie van het werkstuk; uitvoeren, door ode industriële robot, van de verwerkingsstap, zoals een lasstap, op de mogelijke locatie op basis van een positieve invoer van óf de operator óf de centrale databank.An industrial robot for performing a processing step on a workpiece, the industrial robot comprising: a processing tool adapted to perform the processing step; a laser scanner device adapted to scan the workpiece thereby generating a point cloud representation of the workpiece; a processing unit adapted to define a possible location on the workpiece for performing the processing step based on metadata obtained by analyzing the point cloud representation of the workpiece, and arranged for requesting input from either an operator or a control center database for performing the processing step at the possible location of the workpiece; execution, by an industrial robot, of the processing step, such as a welding step, at the possible location on the basis of a positive input from either the operator or the central database. 8. Industriële robot volgens conclusie 7, waarin de industriële robot omvat de centrale databank, waarbij de industriële robot verder omvat: opslagmiddelen ingericht voor het opslaan van de metadata in relatie met de mogelijke locatie in de databank voor opeenvolgende referentie.The industrial robot according to claim 7, wherein the industrial robot comprises the central database, the industrial robot further comprising: storage means adapted to store the metadata in relation to the possible location in the database for consecutive reference. 9. Industriële robot volgens een van de conclusies 7 tot en met 8, waarin de verwerkingseenheid is ingericht voor het correleren van de verkregen metadata met een metadata vervat in de databank.The industrial robot according to any of claims 7 to 8, wherein the processing unit is adapted to correlate the obtained metadata with a metadata contained in the database. 10. Industriële robot volgens een van de conclusies 7 tot en met 9, waarin de verwerkingseenheid verder is ingericht voor het herkennen, door de verwerkingseenheid, van individuele afzonderlijke objecten in de puntenwolkrepresentatie van het werkstuk.The industrial robot according to any of claims 7 to 9, wherein the processing unit is further adapted to recognize, by the processing unit, individual individual objects in the point cloud representation of the workpiece. 11. Industriële robot volgens een van de conclusies 7 tot en met 10, waarin de verwerkingseenheid verder is ingericht voor het definiëren van de mogelijke locatie als een kruispunt tussen de herkende individuele afzonderlijke objecten.The industrial robot according to any of claims 7 to 10, wherein the processing unit is further adapted to define the possible location as an intersection between the recognized individual individual objects. 12. Industriële robot volgens een van de conclusies 7 tot oen met 11, waarin de verwerkingsstap een van een lasstap, een boorstap, een ontbraamstap, een lasersnijstap, een grijpstap en een assembleerstap is.The industrial robot according to any of claims 7 to 11, wherein the processing step is one of a welding step, a drilling step, a deburring step, a laser cutting step, a gripping step and an assembling step.
NL2015839A 2015-11-23 2015-11-23 A method of, as well as an industrial robot for performing a processing step at a work piece. NL2015839B1 (en)

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EP3563983A1 (en) * 2018-05-02 2019-11-06 Exner Ingenieurstechniek B.V. Method of, as well as a system for, performing a welding step on a work piece
CN110455187A (en) * 2019-08-21 2019-11-15 哈尔滨工业大学 A 3D Vision-Based Inspection Method for the Weld Seam of Box Workpieces

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US20100021051A1 (en) * 2008-07-22 2010-01-28 Recognition Robotics, Inc. Automated Guidance and Recognition System and Method of the Same

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Publication number Priority date Publication date Assignee Title
US5999642A (en) * 1996-04-22 1999-12-07 Gilliland; Malcolm T. Method and apparatus for determining the configuration of a workpiece
US6292715B1 (en) * 1998-10-27 2001-09-18 Perry Investments, Inc. Robotic process planning method and apparatus using templates
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP3563983A1 (en) * 2018-05-02 2019-11-06 Exner Ingenieurstechniek B.V. Method of, as well as a system for, performing a welding step on a work piece
NL2020860B1 (en) * 2018-05-02 2019-11-12 Exner Ingenieurstechniek B V Method of, as well as a system for, performing a welding step on a work piece.
CN110455187A (en) * 2019-08-21 2019-11-15 哈尔滨工业大学 A 3D Vision-Based Inspection Method for the Weld Seam of Box Workpieces

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