GENERATING A JOB DESCRIPTION FOR MOTION PLANNING

This paper describes the system and methods that are used by the offline programming system, TAS, to generate job descriptions for the motion planners used at Odense Steel Shipyard. TAS uses attributes locally defined at each seam end to attach scripts. These scripts specify how the welding torch must behave at the seam ends. This information is collected into job descriptions which is again transferred to a motion planning module. This module calculates how the robot must move in order to fulfill welding specifications without colliding with the environment.