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Time Optimal Path Planning for Industrial Robots Using STL Data Files

Abele, Eberhard ; Hähn, Felix ; Pischan, Matthias ; Herr, Florian :
Time Optimal Path Planning for Industrial Robots Using STL Data Files.
[Online-Edition: http://dx.doi.org/10.1016/j.procir.2016.08.038]
In: 5th CIRP Global Web Conference – Research and Innovation for Future Production (CIRPe 2016), Elsevier B.V., 55 pp. 6-11.
[Artikel], (2016)

Offizielle URL: http://dx.doi.org/10.1016/j.procir.2016.08.038

Kurzbeschreibung (Abstract)

This paper presents an approach based on the A*-Algorithm to generate time optimal tool paths for a robot based deburring process of internal contours. Besides the optimization of the deburring process by using special deburring tools with proper parameters the robots trajectory between the individual points has to be optimized to minimize the deburring process. The simulation environment OpenRAVE with a Matlab interface is used to find the shortest path by solving the traveling salesman problem of a graph automatically generated using the workpiece in the Surface Tessellation Language (STL) data file.

Typ des Eintrags: Artikel
Erschienen: 2016
Autor(en): Abele, Eberhard ; Hähn, Felix ; Pischan, Matthias ; Herr, Florian
Titel: Time Optimal Path Planning for Industrial Robots Using STL Data Files
Sprache: Englisch
Kurzbeschreibung (Abstract):

This paper presents an approach based on the A*-Algorithm to generate time optimal tool paths for a robot based deburring process of internal contours. Besides the optimization of the deburring process by using special deburring tools with proper parameters the robots trajectory between the individual points has to be optimized to minimize the deburring process. The simulation environment OpenRAVE with a Matlab interface is used to find the shortest path by solving the traveling salesman problem of a graph automatically generated using the workpiece in the Surface Tessellation Language (STL) data file.

Titel der Zeitschrift, Zeitung oder Schriftenreihe: 5th CIRP Global Web Conference – Research and Innovation for Future Production (CIRPe 2016), Elsevier B.V.
Band: 55
Freie Schlagworte: energy control; load management; machine tools
Fachbereich(e)/-gebiet(e): 16 Fachbereich Maschinenbau
16 Fachbereich Maschinenbau > Institut für Produktionsmanagement, Technologie und Werkzeugmaschinen (PTW)
16 Fachbereich Maschinenbau > Institut für Produktionsmanagement, Technologie und Werkzeugmaschinen (PTW) > Werkzeugmaschinen und Komponenten
Hinterlegungsdatum: 24 Nov 2016 14:07
Offizielle URL: http://dx.doi.org/10.1016/j.procir.2016.08.038
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