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.
Guangqi Cai, Xipeng Xu and Renke Kang
J.M. Zhan et al., "Path Planning for Robot in Free-Form Surfaces Polishing", Key Engineering Materials, Vols. 304-305, pp. 426-430, 2006