From CAD-Design to Force Controlled Robot Manufacturing

Abstract: This Master Thesis presents the necessary steps to manufacture a piece, starting from the draw in the software Pro/ENGINEER and then processing the generated G-code to create a RAPID program understandable for the robot. Some additions required to make the code work on the Teach Pendant of the IRB 2400-16 are explained in detail. Apart from the RAPID program, the robot is also controlled with the help of a Simulink controller created to avoid collisions and to assure a compliant behaviour with the environment. An extra application is included in order to obtain information about the shape of the workpiece that the robot will machine.