Simple programming scheme for industrial robot manipulators: A case study for feasibility proof

This paper presents a novel method for simple programming of industrial manipulators. The method consists of three stages. In the first stage, 3-D surface model of an industrial part is obtained by using a laser profile sensor mounted on the tip of the robot manipulator. In the second stage, the 3-D model is visualized to enable the operator to select operation points from the visual of the part. The last stage includes obtaining the motion plan for the selected points and moving the robot manipulator along the planned trajectory and performing industrial operations on the selected points. A real application is given to proof the feasibility of the proposed method.