Path Planning for Robot in Free-Form Surfaces Polishing

Based on the direction-parallel path planning method, this paper constructs a kinematics model and an inverse kinematics model for a robotic ultrasonic EDM polishing system, and it presents the arithmetic on joints’ rotating displacements and joints’ rotating speeds. A set of computerized solutions to the two models is developed for the robotic polishing system under the conditions of keeping feed speed Vf and machining angle λ at some constants on free-form surfaces. In this way, it puts forward an easy and efficient way for robot in free-form surfaces polishing.