Automated tool trajectory planning of industrial robots for painting composite surfaces

2006 ◽  
Vol 35 (7-8) ◽  
pp. 680-696 ◽  
Author(s):  
Heping Chen ◽  
Ning Xi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robots ◽  
Tool Trajectory ◽  
Automated Tool

General Framework of Optimal Tool Trajectory Planning for Free-Form Surfaces in Surface Manufacturing

2005 ◽  
Vol 127 (1) ◽  
pp. 49-59 ◽  
Author(s):  
Heping Chen ◽  
Ning Xi ◽  
Weihua Sheng ◽  
Yifan Chen
Keyword(s):  
Trajectory Planning ◽  
Computer Aided Design ◽  
General Framework ◽  
Planning Process ◽  
Spray Forming ◽  
Industrial Robots ◽  
Free Form ◽  
Tool Trajectory ◽  
Free Form Surfaces ◽  
The Given

Surface manufacturing is a process of adding material to or removing material from the surfaces of a part. Spray painting, spray forming, rapid tooling, spray coating, and polishing are some of the typical applications of surface manufacturing, where industrial robots are usually used. Tool planning for industrial robots in surface manufacturing is a challenging research topic. Typical teaching methods are not affordable any more because products are subject to a shorter product life, frequent design changes, small lot sizes, and small in-process inventory restrictions. An automatic tool trajectory planning process is hence desirable for tool trajectory planning of industrial robots. Based on the computer-aided design model of a part, the tool model, task constraints, and optimization criteria, a general framework of optimal tool trajectory planning in surface manufacturing is developed. Optimal tool trajectories are generated by approximately solving a multiobjective optimization problem. To test if the generated trajectory satisfies the given constraints, a trajectory verification model is developed. Simulations are performed to determine if the given constraints are satisfied. Simulation results show that the optimal tool trajectory planning framework can be applied to generate trajectories for a variety of applications in surface manufacturing. This general framework can also be extended to other applications such as dimensional inspection and demining.

scholarly journals A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Alejandro GutierreznGiles ◽  
Luis U. EvangelistanHernandez ◽  
Marco A. Arteaga ◽  
Carlos A. CruznVillar ◽  
Alejandro RodrigueznAngeles
Keyword(s):  
Motion Control ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Control Architecture ◽  
Control Approach

Trajectory Planning for Conformal 3D Printing Using Non-Planar Layers

2018 ◽  
Author(s):  
Aniruddha V. Shembekar ◽  
Yeo Jung Yoon ◽  
Alec Kanyuck ◽  
Satyandra K. Gupta
Keyword(s):  
Additive Manufacturing ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Complex Geometries ◽  
Robot Arm ◽  
Joint Movement ◽  
Tool Orientation ◽  
3D Objects ◽  
Planar Surfaces ◽  
Build Time

Additive manufacturing (AM) technologies have been widely used to fabricate 3D objects quickly and cost-effectively. However, building parts consisting of complex geometries with multiple curvatures can be a challenging process for the traditional AM system whose capability is restricted to planar-layered printing. Using 6-DOF industrial robots for AM overcomes this limitation by allowing materials to deposit on non-planar surfaces with desired tool orientation. In this paper, we present collision-free trajectory planning for printing using non-planar deposition. Trajectory parameters subject to surface curvature are properly controlled to avoid any collision with printing surface. We have implemented our approach by using a 6-DOF robot arm. The complex 3D structures with various curvatures were successfully fabricated, while avoiding any failures in joint movement, holding comparable build time and completing with a satisfactory surface finish.

Minimum cost trajectory planning for industrial robots

2004 ◽  
Vol 23 (4) ◽  
pp. 703-715 ◽  
Author(s):  
T. Chettibi ◽  
H.E. Lehtihet ◽  
M. Haddad ◽  
S. Hanchi
Keyword(s):  
Trajectory Planning ◽  
Minimum Cost ◽  
Industrial Robots

An optimal trajectory planning method for path tracking of industrial robots

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 502-520 ◽  
Author(s):  
Xianxi Luo ◽  
Shuhui Li ◽  
Shubo Liu ◽  
Guoquan Liu
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Path ◽  
Path Tracking ◽  
Industrial Robots ◽  
Planning Method ◽  
Coordinate Frame ◽  
Optimization Approach ◽  
Cartesian Coordinate ◽  
Optimal Trajectory Planning

SUMMARYThis paper presents an optimal trajectory planning method for industrial robots. The paper specially focuses on the applications of path tracking. The problem is to plan the trajectory with a specified geometric path, while allowing the position and orientation of the path to be arbitrarily selected within the specific ranges. The special contributions of the paper include (1) an optimal path tracking formulation focusing on the least time and energy consumption without violating the kinematic constraints, (2) a special mechanism to discretize a prescribed path integration for segment interpolation to fulfill the optimization requirements of a task with its constraints, (3) a novel genetic algorithm (GA) optimization approach that transforms a target path to be tracked as a curve with optimal translation and orientation with respect to the world Cartesian coordinate frame, (4) an integration of the interval analysis, piecewise planning and GA algorithm to overcome the challenges for solving the special trajectory planning and path tracking optimization problem. Simulation study shows that it is an insufficient condition to define a trajectory just based on the consideration that each point on the trajectory should be reachable. Simulation results also demonstrate that the optimal trajectory for a path tracking problem can be obtained effectively and efficiently using the proposed method. The proposed method has the properties of broad adaptability, high feasibility and capability to achieve global optimization.

Study on NURBS Surface Tool Trajectory Planning of 6R Engraving Robot

2013 ◽  
Vol 711 ◽  
pp. 422-425 ◽  
Author(s):  
Yu Hu Zuo
Keyword(s):  
Trajectory Planning ◽  
Coordinate Transformation ◽  
Inverse Kinematics ◽  
End Milling ◽  
Transformation Method ◽  
Nurbs Surface ◽  
Calculation Algorithm ◽  
Tool Trajectory ◽  
Coordinate Transformation Method ◽  
Cutting Point

A NURBS surface tool trajectory planning method of engraving robot is proposed. The calculation algorithm including NURBS surface tool trajectory, cutting point and effective cutting radius of end milling cutter and inverse kinematics transform is discussed in detail using Taylor and coordinate transformation method. It is the foundation to further applied to the engraving robot tool trajectory planning or off-line programming.

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