Path Planning for Industrial Robots in Free-form Surface Polishing | |
Li, Zhaosheng1,2; Wang, Wei1 | |
2019 | |
会议名称 | IEEE International Conference on Control, Automation and Robotics |
会议日期 | 2019 |
会议地点 | Beijing |
摘要 | The surface roughness of mold affects the product quality and the surface quality of the blade and aircraft has a direct impact on stability and reliability of related equipment, so the polishing plays an important role in manufacturing industry. Conventional industrial robots provide teaching pendant to plan the path, while the teaching of free-form surface is difficult and complicated. This paper utilizes the off-line programming to plan the path. Before the path planning, we read STL format files of the free-form surface objects and build topology relations. Comparing the direction-parallel and contour-parallel path patterns, we find that the direction-parallel pattern needs less degree of freedom and is much easier to avoid physical interventions and mechanic singularity, so we adopt the direction-parallel method to plan the path at last. We solve the intersection between the cutting plane and free-form surface based on the topology relations. We develop a simulation platform using the C++ and OpenGL and conduct the experiment. The experiment proves that the path generated by direction-parallel method based on topology relations is accurate. |
收录类别 | EI |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39230 |
专题 | 智能感知与计算研究中心 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing, China 2.University of Chinese Academy of Sciences, Beijing, China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Li, Zhaosheng,Wang, Wei. Path Planning for Industrial Robots in Free-form Surface Polishing[C],2019. |
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Path Planning for In(475KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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