Knowledge-based programming of industrial robots for arc welding of small lot sizes

A knowledge-based CAD/CAM-system for off-line programming of arc welding robots is presented. In contrast to other programming systems, this system automatically generates robot programs from CAD-data for a pre-defined spectrum of workpieces. Due to that, the programming time necessary for each new workpiece is reduced to a minimum, which is advantageous for the economical use of arc welding robots with continuously changing types of workpieces and small lot sizes. In order to support the robot programmer and to minimize the necessary user input, the 'know-how' of robot programming and welding technology for the pre-defined spectrum of workpieces is transferred in a knowledge-based structure of rules and data objects as far as possible. Up to now, the knowledge acquisition and implementation of the knowledge-based CAD/CAM-system has been restricted to workpieces from steel construction.