Novel surface optimization for trajectory reconstruction in industrial robot tasks

International Journal of Advanced Robotic Systems

article

Miguel Angel Funes-Lora¹  Eduardo Vega-Alvarado²  Raúl Rivera-Blas²  María Barbara Calva-Yáñez²  Gabriel Sepúlveda-Cervantes² 

[1] The University of Michigan;Instituto Politécnico Nacional

关键词: Free-form surface;    industrial robot;    optimization algorithm;    point cloud data;   

DOI  :  10.1177/17298814211064767

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

This study presents a novel algorithm implementation that optimizes manually recorded toolpaths with the use of a 3D-workpiece model to reduce manual error induced. The novel algorithm has three steps: workpiece declaration, manual toolpath declaration, and toolpath optimization using steepest descent algorithm. Steepest descent finds the surface route wherein the manually recorded toolpaths traverse over a 3D-workpiece surface. The optimized toolpaths were simulated and tested with an industrial robot showing minimal error compared to the desired optimized toolpaths. The results obtained from the presented implementation on three different trajectories demonstrate that the proposed methodology can reduce the manual error induced using as a reference the CAD-workpiece surface.

【 授权许可】

CC BY