Industrial robots are widely used in many industries for different jobs. With the specific goal to limit the expensive process of polishing due to unhealthy conditions, trained workers requirement and human mistakes, it is an attractive idea to automate the surface polishing by machines. The important job in robotic polishing process is path planning and force control. This research work is with the objective to systematize and optimize the path planning for free-form surfaces under the regulated force. Robotic polishing based on CAD models of the workpiece is presented in this paper. A new technique of path planning for symmetrical free-form surfaces is used. The proposed method is tested for the polishing of a glasses frame. Finally, the optimized path planning idea for the symmetrical free-form surfaces is compared with other path planning methods in terms of quality and productivity.

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The bending of complex curved sheet metals of ship hull has long been a challenge in shipbuilding yard on account of some inherent defects of the traditional forming processes such as the line heating. This paper presents a novel incremental bending process based on punching to obtain complex curved steel plates in order to take the place of those inefficient traditional forming processes of ship hull. The presented incremental bending process is carried out by a series of stepping punches, so it is also defined as incremental punching in this work. By means of this process, the blank plate that is fixed and held by a flexible supporting system can incrementally be bent to the target shape by a press tool with a planned tool trajectory one step after another. Meanwhile, in order to improve geometric accuracy of the formed work-piece, a 3D scanning feedback system is applied to measure the deformation of the work-piece during the forming process. Three dimensional shape of the formed work-piece can be imaged and rebuilt with a large amount of point cloud data by the 3D scanning feedback system. Then the difference between the rebuilt model of the formed work-piece and the target CAD-model can be acquired, which can be used for feedback control of the forming accuracy if necessary. To validate the presented forming process, an original incremental punching prototype was designed and manufactured, which is mainly composed of a 3-axis CNC machine, a flexible supporting system and a 3D scanning feedback system. A forming experiment of a gradual curvature steel plate was carried out using this prototype and is discussed in detail in this paper in order to demonstrate the feasibility of the proposed incremental bending process of complex curved steel plate.

Research on the man in the loop control system of the robot arm based on gesture control AIP Conference Proceedings 1820, 070013 (2017) Abstract. At present, the automation requirement of the welding become higher, so a method of the welding information extraction by vision sensor is proposed in this paper, and the simulation with the MATLAB has been conducted. Besides, in order to improve the quality of robot automatic welding, an information retrieval method for welding torch pose control by visual sensor is attempted. Considering the demands of welding technology and engineering habits, the relative coordinate systems and variables are strictly defined, and established the mathematical model of the welding pose, and verified its feasibility by using the MATLAB simulation in the paper, these works lay a foundation for the development of welding off-line programming system with high precision and quality.

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