Automatic generation of collision free moves for the ABB industrial robot control

The paper reports the GLEAM method, its application, and results of the implementation of a software tool for the automatic generation of collision free moves for ABB industrial robot control. During the generation of collision free move statements a multi-criteria optimization is performed. The generation and optimization is done with the help of a genetic algorithm and an evolutionary strategy. The industrial application was done during a sabbatical period together with ABB robotics in Vasteras, using ABB industrial robot control and an IRB 2400 robot. The presentation describes the work items to be done, and discusses the problems to be solved.