Abstract

Although noncontact-type operations, such as pick-and-place or spot welding, are still commonly being used nowadays, there is an increasing interest on developing and applying “compliant motion” (i.e., motion and force) control on industrial robots for contact-type operations. For these operations, the required robot motion can be complex depending on the workpiece geometry. As a result, realizing these tasks using online programming methods is usually inadequate in terms of productivity in practice. The focus of this chapter is on the simulation and off-line programming process for contact-type operations, where some level of interaction between the robot and the workpiece/environment are required. Due to this interaction, some additional issues arise during the programming process. Solutions for these problems will be brought up, and readers can refer to the cited references for detailed discussions. A case study on robotized surface grinding systems based on the experience on industrial projects will also be presented to further assist readers on the actual implementation.