【摘 要】
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Industrial robots are widely used in various applications such as machining,painting,and welding.There is a pressing need for a fast and straightforward robot p
【机 构】
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Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, H
论文部分内容阅读
Industrial robots are widely used in various applications such as machining,painting,and welding.There is a pressing need for a fast and straightforward robot programming method,especially for surface-based tasks.At present,these tasks are time-consuming and expensive,and it requires an experienced and skilled operator to program the robot for a specific task.Hence,it is essential to automate the tool-path generation in order to eliminate the manual planning.This challenging research has attracted great attention from both industry and academia.In this paper,a tool-path generation method based on a mesh model is introduced.The bounding box tree and kdtree are adopted in the algorithm to derive the tool path.In addition,the algorithm is integrated into an offline robot programming system offering a comprehensive solution for robot modeling,simulation,as well as tool-path generation.Finally,a milling experiment is performed by creating tool paths on the surface thereby demonstrating the effectiveness of the system.
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