IIAE CONFERENCE SYSTEM, The 5th IIAE International Conference on Industrial Application Engineering 2017 (ICIAE2017)

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CLS Data Interpolation with Spline Curves and Its Post Processing for Generating a Robot Language
Fusaomi Nagata, Yudai Okada, Takamasa Kusano, Keigo Watanabe

Last modified: 2017-02-22


In this paper, an interpolation method with spline curves is proposed to smooth cutter location source data called CLS data. 3rd-order and 5th-order spline curves are easily implemented for interpolation. Then, a post processor is designed for an industrial robot FANUC R2000iC to produce FANUC robotic program called LS format. The post processor works as a straightforward and cooperative interface between CAD/CAM systems and the industrial robot, so that a desirable teaching-less operation environment is realized. The validity and usefulness of the proposed methods are evaluated through a simulation on FANUC RoboGuide and an actual machining experiment with the robot. The FANUC RoboGuide is a robotic simulation environment that can execute both the robot’s motion and application, largely reducing the setup time and risk in using an actual robot.


Industrial robot; interpolation; spline curve; CAD/CAM; CLS data; Teaching less; FANUC robotic program; LS format; Machining robot

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