Tao, Wei2024-08-152024-08-1519961996https://hdl.handle.net/1828/19861This work addresses the problem of automation of industrial robot operations in an unstructured environment. A novel automatic surface measurement and trajec­tory planning methodology and software are developed. The methodology includes four steps: (1) object search, (2) measurement of the object surface and collection of data, (3) surface modelling, and (4) the generation of the control program for robot joint actuators which provides the end-effector motion along the required trajectory on the surface with the required force interaction. A computer graphical interface is developed so that the user can generate and modify the task trajectory interactively. Furthermore, the user can simulate the job task on computer, specify the robot searching path, and control the robot from a remote location.111 pagesAvailable to the World Wide WebThesis