Study on Path Planning for Industrial Robots in Free-Form Surfaces Polishing
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.
Guanglin Wang, Huifeng Wang and Jun Liu
J. M. Zhan et al., "Study on Path Planning for Industrial Robots in Free-Form Surfaces Polishing", Key Engineering Materials, Vols. 392-394, pp. 771-776, 2009