Scan-N-Plan technologies are a suite of tools that enable real-time robot trajectory planning from 3-D scan data. Traditional industrial robot programming is performed using either online, teach-pendant programming or offline programming with a simulated version of the robot and work piece. The Scan-N-Plan approach overcomes limitations in traditional robot programming for applications that:

  • Have highly variable part mixes such that hand programming is impractical
  • Do not have CAD part models available
  • Include flexible or deformable parts such that pre-programming is impossible
  • Have part-to-part variability that is difficult to accommodate with static programming
  • Require flexible part fixturing or no fixturing at all

These applications are representative of adaptable and flexible operations that respond dynamically to changes in part geometry or presentation — all with little or no human intervention. In addition, the dynamic nature of the trajectory generation permits real-time adaptation based on process feedback.

Traditional robot programming requires an expert-in-the-loop, which limits responsiveness to changes in the process:

The Scan-N-Plan approach leverages 3D scanning techniques to generate the part geometry and location in realtime, eliminating the human in the loop and enabling agility:

Scan-N-Plan can be generalized to many different processes such as painting, surface finishing, deburring, inspection, and others. The ROS-Industrial Consortium is currently developing the technique for surface blending (sanding) and it has previously been deployed in robotic paint applications. Refer to the backside of the PDF (below) for a Robotic Blending case study.

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As part of EU-funded project ROSIN, Fraunhofer IPA made a Scan-N-Polish application together with ROS-Industrial Consortium member PILZ and showcased it on AUTOMATICA trade fair 2018 in Munich, Germany, as well as ROSCon and IROS 2018 in Madrid, Spain.