Simulation and execution of event-driven robot teaching in a virtual environment

One of the most widely used robot working paradigms is surely the teaching-playback. Conventional teaching process is very tedious and time-consuming, even dangerous. This paper presents a new development method for event-driven robot teaching in a virtual environment. By using agent-oriented programming scripts, the prior knowledge from task world and the new knowledge from sensors during the real-time execution are both integrated to the virtual workcell. With the help of event based control, a safe and efficient teaching system is developed. Simulation and execution experiment results with a MOTOMAN-k10s welding robot show that the method is effective.