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from images to robot programs

Painting/Spraying Robot programs from images

  • CASPER is a software component
  • CASPER generates painting/spraying robot programs from images
  • CASPER can process 2D as well as 3D images (acquired for example by laser scanners, measuring light curtains and stereovision cameras
  • CASPER can analyze complex shapes, extracting contours and surfaces of the objects and generating the robot program

Maximum production flexibility

  • No need for time-consuming off-line programming
  • No need for CAD
  • On the fly shape interpretation
  • Working with standard robots: no need for "teaching by moving" robot capabilities
  • Easy to use


  • Unique capability of working with 3D images and generic objects
  • Customizable painting strategies
  • Computation of optimal paths
  • Cartesian or joint-space trajectory planning
  • Up to 8 degrees of freedom, unique redundancy exploitation strategy
  • Generation of proprietary languages robot programs (Fanuc, Motoman, ABB, custom, ...)
Acquired data
Robot program
Casper 2D works on binary images which can be provided typically by scan-laser systems (for example SICK™ or AT™ systems) after applying a threshold, by multi-beam photocell barriers, by TOF sensors or 3D structured light (such as ASUS XTion PRO™, Microsoft Kinect™, IDS Ensenso). Casper 3D exploits the depth information if available from the sensor.
Photocell-barrier scanned image
Tool trajectories
Photocell-barrier scanned image
Tool trajectories

Some samples of window frames, doorframes and panels, rectangular, oval, circular, trapezoidal shapes automatically analyzed by CASPER and obtained from real users. Multi objects and different objects can be positioned in the same image.


Typical parameters are: speed, acceleration, smoothness, ordering, distance and orientation of the tool with respect to the object, curvature radius, activation tool delays and more.


A precise control of execution is obtained by the delay parameters that handle the tool activation and the physical delay of the paint flow (spray tool case).


Robustness to image noise and small deformations, hooks automatic removal, regularization of low-resolution images.


To now, CASPER has been installed in more than 50 industrial plants worldwide.

Customization and GVT services

  • sensor choice
  • interface to the sensor and to the robot
  • implementation of compilers for custom robot
  • state of the art and high level trajectory optimization (i.e. axis redundancy exploitation for singularity avoidance)