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Tool-path generation for industrial robotic surface-based application

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Abstract

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 kd-tree 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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Acknowledgements

Funding was provided by Research Grants Council, University Grants Committee (Grant No. 16205915) and Innovation and Technology Commission (HK) (Grant No. TS/216/17FP).

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Authors and Affiliations

  1. Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, People’s Republic of China

    He Lyu & Ze-Xiang Li

  2. Hong Kong University of Science and Technology, Shenzhen Research Institute, Shenzhen, 518057, Guangdong Province, People’s Republic of China

    Yue Liu, Jiao-Yang Guo & He-Ming Zhang

Authors
  1. He Lyu
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  2. Yue Liu
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  3. Jiao-Yang Guo
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  4. He-Ming Zhang
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  5. Ze-Xiang Li
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Correspondence to He Lyu.

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Lyu, H., Liu, Y., Guo, JY. et al. Tool-path generation for industrial robotic surface-based application. Adv. Manuf. 7, 64–72 (2019). https://doi.org/10.1007/s40436-018-00246-x

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  • DOI: https://doi.org/10.1007/s40436-018-00246-x

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