RobSurf: A Near Real Time OLP System for Robotic Surface Finishing

In this paper we will discuss the development and use of a CAD based robot path and process-planning environment for surface finishing of conventional (metal) and nonconventional material (fiberglass composites) workpieces. This system is based on a modular and parametric approach process modeling for experimentation in determining “optimum” process parameters. It can operate upon workpieces of various characteristics due to the integrated soft setup methodologies. RobSurf is a surface modeling and path generation system developed specifically for experimentation and identification of process parameters for processes associated with surface finishing. Using a coordinate measuring device interfaced with AutoCAD, the system is capable of generating a CAD model of any surface through reverse engineering techniques and generating native robot control code with embedded process parameters for various routines such as fill, form, and fair as well as information of the process tooling employed. The generated robot control code is then transferred to the robot controller via an RS-232C interface connection.