Study on Path Planning for Industrial Robots in Free-form Surfaces Polishing

被引:3
作者
Zhan, J. M. [1 ]
Zhou, X. Q. [2 ]
Hu, L. Y.
机构
[1] Ningbo Univ, Fac Engn, Ningbo 315211, Zhejiang, Peoples R China
[2] Jilin Univ, Sch Mech Sci & Engn, Changchun 130022, Peoples R China
来源
MANUFACTURING AUTOMATION TECHNOLOGY | 2009年 / 392-394卷
基金
中国国家自然科学基金;
关键词
Free-form surfaces; Industrial robot; Polishing; Path planning;
D O I
10.4028/www.scientific.net/KEM.392-394.771
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Expected path of polishing tool is one of the most essential needs for movement scheduling and movement controlling of polishing robot in free-form surfaces polishing. By analyzing the expected movement and position of polishing tool and based on the traditional movement scheduling methods, this paper carries out systematic research works on contour-parallel-machining tool path planning method and direction-parallel-machining tool path planning method for polishing tool paths figuring out. Compared with contour-parallel-machining tool path planning method, the direction-parallel-machining tool path planning method needs one less number of degree of freedom and is much easier to avoid physical interventions and mechanic singularity, so it is an improved one.
引用
收藏
页码:771 / +
页数:2
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