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This paper describes a general method for programming robot motions in an industrial environment. The purpose of this study was the off-line programming automation of riveting machines for Airbus (A320-A340) panels and sub-assemblies. Providing the initial and goal configuration of the robot on the Airbus part, the method determines a collision-free path taking into account CAD models of both the robot and Airbus parts. This method, based on the attractive potential field concept and the random motion technique, has been implemented on a robotic simulation software.
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Graux et al. (1992) studied this question.
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