Equidistant Tool Path and Cartesian Trajectory Planning for Robotic Machining of Curved Freeform Surfaces

In the machining of parts, tool paths for complex cavity milling often have different generation options, as opposed to simple machining features. The different tool path generation options influence the machining time and cost of the part during the machining process. Decision makers prefer tool path solutions that have fewer blanking lengths, which means that the machining process is more efficient. Therefore, in order to reduce costs and increase efficiency, it is necessary to carefully design the tool path generation for the features to be machined on the part, especially for complex cavity milling features. However, solutions to the problem of optimal design of tool paths for complex cavity milling features have not been well developed in current research work. In this paper, we present a systematic solution for complex cavity milling tool path generation based on reinforcement learning. First, a grid converter is executed for converting the 3D geometry of the cavity milling feature into a matrix of planar grid points recognisable by the program, set according to the cutting parameters. Afterwards, the tool path generation process is refined and modelled as a Markov decision process. Ultimately, a tool path generation solution combining the A* algorithm with the Q-learning algorithm is executed. The agent iterates through trial and error to construct an optimal tool path for a given cavity milling task. Three case experiments demonstrate the feasibility of the proposed approach. The superiority of the reinforcement learning-based approach in terms of solution speed and solution quality is further demonstrated by comparing the proposed approach with the evolutionary computational techniques currently popular in research for solving tool path optimisation design problems.

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“…As the size of the problem increases, its iterative operations are not efficient. More studies related to tool paths also exist [14]- [21].…”

Section: Introductionmentioning

confidence: 99%

Tool Path Optimization for Complex Cavity Milling Based on Reinforcement Learning Approach

2023

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“…Therefore, approximate algorithms have been proposed to reduce the computational burden of the GVD method. Amersdorfer and Meurer proposed an equidistant tool path planning strategy [41]. Another approach to maximize path clearance is called the retraction technique.…”

Section: Introductionmentioning

confidence: 99%

Multi-Level Indoor Path Planning and Clearance-Based Path Optimization for Search and Rescue Operations

et al. 2023

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In this study a multi-level path planning system is proposed for indoor search and rescue operations. Requirements for the path planning system are derived based on the operational concept of the integrated indoor navigation system. Different aspects of various path planning algorithms are assessed, and their suitability to search and rescue operations in structured indoor environments is investigated. A fivestep path planning system is proposed, which consists of map pre-processing, segment path planning, graph processing, route optimization, and path post-processing. The proposed method addresses a multi-goal path planning problem in a multi-story building in a computationally efficient way by adopting a graph-based approach while satisfying such requirements as clearance conditions in the pre-and post-processing steps. Furthermore, a multi-query approach is adopted to exploit the response time and earn flexibility with respect to environmental changes. The effectiveness of the proposed path planning system is demonstrated through numerical simulations.INDEX TERMS Path planning, indoor navigation, path optimization, linear programming, dynamic environment.

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“…Similar notions, such as bicubic splines, bivariate splines, tensor-product splines and spline wavelets, still constantly appear in modern scientific spline related studies and have found numerous successful engineering applications. Recently, an equidistant tool path planning strategy on curved freeform surfaces, using an inverse interpolation scheme of cubic spline parameterization, for robotic machining tasks, was proposed in [1]. An algorithm for numerical Hilbert transform of functions represented by cubic and exponential splines was developed in [6], and used for causal interpolation of characteristic impedance of microstrip line over conductive substrate.…”

Section: Introductionmentioning

confidence: 99%

“…Future research will be on (1) integrating additional features of a PLY data file to PACSIS such as confidence, intensity, and vertex and/or face normals; (2) establishing algorithms for locally least square PACSIS so that it is close to the original PM; (3) creating point clouds for various 3d models from their associated PACSIS; and (4) finding more applications of PACSIS to areas such as signal and image processing, animation, data science, feature representation, mesh rendering, visualization, as well as computer graphics.…”

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confidence: 99%

Parametric Cubic Spline Interpolating Surfaces for Arbitrary Polygonal Meshes

Lian¹

2022

Preprint

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<p>An innovative and efficient algorithm was established for generating a G1 parametric bicubic spline interpolation surface (PACSIS) for any polygonal mesh. The resulting G1 surface interpolates all vertices of the quads; and the G1 smoothness was guaranteed by the special creation of new control points for each quad so that all tangent planes at any vertex match. The algorithm was demonstrated by a variety of PLY files representing different polygonal meshes. There will be more applications of PACSIS to areas such as signal and image processing, animation, data science, feature representation, mesh rendering, visualization, as well as computer graphics. </p>

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Equidistant Tool Path and Cartesian Trajectory Planning for Robotic Machining of Curved Freeform Surfaces

Cited by 20 publications

References 30 publications

Tool Path Optimization for Complex Cavity Milling Based on Reinforcement Learning Approach

Tool Path Optimization for Complex Cavity Milling Based on Reinforcement Learning Approach

Multi-Level Indoor Path Planning and Clearance-Based Path Optimization for Search and Rescue Operations

Parametric Cubic Spline Interpolating Surfaces for Arbitrary Polygonal Meshes

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