Abstract:Execution of automatically generated programs for accurate robotic machining requires the generated trajectories to be not only accurate with respect to the work piece, but also that the trajectories are continuous differentiable (C 1 ) while avoiding unnecessary large curvatures leading to large accelerations that could compromise machining quality or speed. A widely used work piece representation is 3D triangle meshes as they can be easily generated in any CAD representations and from surface scans, and they… Show more
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