This paper presents a real-time joint trajectory interpolation system for the purpose of frequency scaling the low cycle time of a robot controller, allowing a Python application to real-time control the robot at a moderate cycle time. Interpolation is based on quintic Hermite piece-wise splines...

Manufacturing of large steel tube structures is faced with excessive welding, fit-up and rework times in tube joints, due to various types of deviation from nominal shape of the tubes. This article presents a procedure and geometry calculus for generating cutting and welding paths based on measured...

This paper presents an approach for a complete sewing process, including the material handling and preparation before the sewing operation as well as material handling after the finished sewing. The complete process is divided into different tasks. The tasks include localization and stacking of the...

This paper describes an automated sewing system that focuses on sewing of curved edge segments. The sewing cell includes an industrial sewing machine as well as three industrial robots that handle the parts during the sewing process. Based on experiences from previous work, several improvements...