A tolerance constrained G2 continuous path smoothing and interpolation method for industrial SCARA robots

He, Shanshan; Yan, Cao; Deng, Yanchao; Lee, Chen-Han; Zhou, Xiangdong

doi:10.1016/j.rcim.2019.101907

Cited by 28 publications

(12 citation statements)

References 30 publications

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“…Courtesy of [54] Courtesy by [128] Courtesy by [128] Courtesy by [101] vantage of significantly accelerating the optimization and printing process [125]. The rural indirect postman problem solves the unnecessary motion of the nozzle, while the computationally efficient heuristic search algorithm reduces printing time between layer transitions [126]. Another technique for optimizing the trajectory is Directed Energy Deposition (DED).…”

Section: Curve Parametrizationmentioning

confidence: 99%

Recent Developments and Challenges of 3D-Printed Construction: A Review of Research Fronts

et al. 2022

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In the last few years, scattered experiences of the application of additive manufacturing in the construction of buildings using 3D printing with robots or automated equipment have emerged around the world. These use a variety of procedures and suggest relevant advantages for the construction industry. In order to identify the different processes and features in development in this field and to guide future research and applications, this article presents a review of the literature on the main aspects involved in the use of 3D printing in the construction sector. The review includes state-of-the-art material mixtures, printing technologies, and potential uses, as well as a novel analysis of building strategies, management systems, and benefits stated about this new approach for construction. It reveals progressive experimentation regarding diverse features, with challenges related to the consolidation of procedures and this technology’s readiness to participate in the building market.

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Section: Curve Parametrizationmentioning

confidence: 99%

Recent Developments and Challenges of 3D-Printed Construction: A Review of Research Fronts

et al. 2022

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“…By the theory of convex combination, the transition arc C i ( u ) can be represented by equation (6). 2…”

Section: Scara Robot Path Local Arc Transitionmentioning

confidence: 99%

“…The position chord error around the i th corner can be developed by equation (11) as mentioned in He et al 2 and Fan et al 22…”

Section: Scara Robot Path Interpolation Based On Local Arc Transitionmentioning

confidence: 99%

“…The linear path only has G 0 continuity, which will cause unwanted vibrations, slow-downs, and low quality. 2,3…”

Section: Introductionmentioning

confidence: 99%

“…However, the orientation errors cannot be constrained. He et al 2 proposed a G 2 continuous path interpolation method for SCARA robots, while the commercial robot control system does not accept user-defined splines.…”

Section: Introductionmentioning

confidence: 99%

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A tolerance constrained robot path circular interpolation method for industrial SCARA robots

Deng

Yan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

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The linear robot path is tangential and curvature discontinuity, which will lead to vibration and unnecessary hesitation during execution. Local corner transition method and local spline interpolation method are used in state-of-art industrial robot controller to reduce vibration, while local corner transition method cannot interpolate target points and local spline interpolation method cannot constrain chord errors. This research proposes a robot path local interpolation method that eliminates deficiencies of each method. The smoothing method satisfies all of the following requirements: G1 continuity, target point interpolation and chord tolerance confined, shape-preserving (free of self-intersection), and unified parameterization. The generated smooth path consists of linear path and circular arc path with G1 continuity. A geometric iterative method cooperating with local corner transition method is used to generate local interpolation path. Simulations and actual experiments verify the generated smooth path is G1 continuous, tolerance constrained, shape-preserving, and have high computational efficiency.

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Global toolpath smoothing for CNC machining based on B-spline approximation with tool tip position adjustment

Huang

et al. 2023

Int J Adv Manuf Technol

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B-spline curve approximation is widely used for fitting linear toolpaths to improve machining quality and efficiency in CNC machining. For a high-quality smoothing method, the control of both approximation error and curve curvature needs to be considered. To reduce the maximum curve curvature while meeting the precision requirements, a B-spline approximation scheme with tool tip position adjustment is proposed in this paper. Toolpaths are first divided into several subdivisions according to the discrete curvature of each tool tip point. For subdivisions that need adjustment, tool tip positions are adjusted to minimize the maximum discrete curvature. An existed approximation method named Energy-term-incorporated Progressive and Iterative Approximation for Least Square fitting (ELSPIA) is selected and improved to fit the adjusted toolpaths and lower the chord errors. For improving the numerical stability of ELSPIA method, the way of searching appropriate foot point parameters is discussed in this paper. Deviation expansion factors of tool tip points are also defined to make the ELSPIA method suitable for fitting the adjusted toolpaths. Both simulations and experimental studies are conducted to prove that the proposed method can significantly decrease the maximum curvature of fitted B-spline curves and improve the machining efficiency without exceeding the tolerance. For example, experimental results show that for the tested butterfly and rabbit toolpaths, the proposed method can improve the machining efficiency by 2.61% and 2.37%, compared with the ELSPIA method without tool tip position adjustment.

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A tolerance constrained G2 continuous path smoothing and interpolation method for industrial SCARA robots

Cited by 28 publications

References 30 publications

Recent Developments and Challenges of 3D-Printed Construction: A Review of Research Fronts

Recent Developments and Challenges of 3D-Printed Construction: A Review of Research Fronts

A tolerance constrained robot path circular interpolation method for industrial SCARA robots

Global toolpath smoothing for CNC machining based on B-spline approximation with tool tip position adjustment

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