An analytical C3 continuous tool path corner smoothing algorithm for 6R robot manipulator

Yang, Jixiang; Li, Dingwei; Ye, Congcong; Ding, Han

doi:10.1016/j.rcim.2020.101947

Cited by 57 publications

(19 citation statements)

References 33 publications

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“…These smoothing methods present some problems with the position and orientation synchronization parameters of the robotic platforms [121]. For this reason, implementing a global geometric iteration method combined with local corner transition allows for generating a smooth path [123], while global approximation and global interpolation methods allow adjustment of the printing path position [124].…”

Section: Short Description Of Path Optimization Techniques In 3d-prin...mentioning

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: Short Description Of Path Optimization Techniques In 3d-prin...mentioning

confidence: 99%

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

et al. 2022

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“…where T 1a is the duration of the transition velocity from v s to v e with the driving limitations, which is equal to max 15(v e −v s ) 8A max , 45(v e −v s ) 8J max .…”

Section: ) Determining the Duration Thresholdmentioning

confidence: 99%

“…Huang et al [14] involved two cubic B-splines to blend the toolpaths in the WCS, the parameters of which were synchronized by converting the remaining linear segments into the parametric form. Yang et al [15] proposed a smoothing method with PH splines to blend the tool position corner in the WCS and the tool orientation corner in the MCS. The synchronization was analytically reached by converting the remaining linear segments into the B-spline.…”

Section: Introductionmentioning

confidence: 99%

“…Pythagorean-hodograph (PH) curve [28] is a subset of the Bézier spline, but the arclength is the polynomial expression of the spline parameter. It was successfully introduced to blend and interpolate the successive linear toolpaths [6], [15], [29], which did greatly improve the calculation efficiency with the analytical expression of the toolpath length in the lookahead stage. It is noted that, as inherent of non-arclength parameterized splines, the feedrate correction model should be repeatedly executed to revise every interpolation position in the fine interpolation stage [6].…”

Section: Introductionmentioning

confidence: 99%

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A Novel Local Smoothing Method for Five-Axis Machining With Time-Synchronization Feedrate Scheduling

et al. 2020

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This paper presents an analytical continuous smoothing method for the five-axis toolpath by simultaneously scheduling the tool position and tool orientation trajectories. In order to ensure the high-order continuous, the peak-controlled jerk and arclength-parameterized property, a novel curve ''airthoid'' is proposed for the first time. The biairthoid is involved to smooth the corners of the tool position in the workpiece coordinate system (WCS) and the corners of the tool orientation in the machine coordinate system (MCS), the geometries of which are analytically determined by the user-defined deviation errors. A time synchronization strategy is proposed to extend the duration of the predetermined cubic acceleration profile to a specified time. With the kinematic constraints of the tool position and the tool orientation, the transitional and rotational trajectories are analytically synchronized by sharing the same motion time. To comply with the constraints of the linear feed drives, an optimization strategy is conducted by adjusting the kinematics of the tool position. By doing so, the approximation errors of the tool position and tool orientation in the WCS are strictly satisfied. The analytical arclength expression of the smoothing curves is more suitable for the on-line interpolation. Due to the arclength-parametrized transition curve, the feedrate fluctuation is eliminated. With the proposed time synchronization strategy, the physical limits of the feed drives are all respected. Moreover, the high-order continuous airthoid makes the motion more smoothing-going. Simulations and experiments verify the effectiveness of the proposed algorithm.

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“…Sun et al [31] also used RRT Connect and Cubic Spline for motion planning of wheeled robots. Yang et al [32] used C 3 continuous spline for corner smoothing for six rotational (6R) joints of a robot manipulator. Cubic splines have recently had a lot of success to maintain the smoothness of a robot's movement [33].…”

Section: Related Workmentioning

confidence: 99%

Collision Free Smooth Path for Mobile Robots in Cluttered Environment Using an Economical Clamped Cubic B-Spline

Noreen

2020

Symmetry

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Mobile robots have various applications in agriculture, autonomous cars, industrial automation, planetary exploration, security, and surveillance. The generation of the optimal smooth path is a significant aspect of mobile robotics. An optimal path for a mobile robot is measured by various factors such as path length, path smoothness, collision-free curve, execution time, and the total number of turns. However, most of the planners generate a non-smooth less optimal and linear piecewise path. Post processing smoothing is applied at the cost of increase in path length. Moreover, current research on post-processing path smoothing techniques does not address the issues of post smoothness collision and performance efficiency. This paper presents a path smoothing approach based on clamped cubic B-Spline to resolve the aforementioned issues. The proposed approach has introduced an economical point insertion scheme with automated knot vector generation while eliminating post smoothness collisions with obstacles. It generates C2 continuous path without any stitching point and passes more closely to the originally planned path. Experiments and comparison with previous approaches have shown that the proposed approach generates better results with reduced path length, and execution time. The test cases used for experiments include a simple structure environment, complex un-structured environment, an environment full of random cluttered narrow obstacles, and a case study of an indoor narrow passage.

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An analytical C3 continuous tool path corner smoothing algorithm for 6R robot manipulator

Cited by 57 publications

References 33 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 Novel Local Smoothing Method for Five-Axis Machining With Time-Synchronization Feedrate Scheduling

Collision Free Smooth Path for Mobile Robots in Cluttered Environment Using an Economical Clamped Cubic B-Spline

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