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Time Optimal Path Planning for Industrial Robots Using STL Data Files

Abele, Eberhard and Hähn, Felix and Pischan, Matthias and Herr, Florian (2016):
Time Optimal Path Planning for Industrial Robots Using STL Data Files.
In: Procedia CIRP, 5th CIRP Global Web Conference – Research and Innovation for Future Production, Elsevier B.V., pp. 6-11, 55, ISSN 2212-8271,
[Online-Edition: http://dx.doi.org/10.1016/j.procir.2016.08.038],
[Article]

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.

Item Type: Article
Erschienen: 2016
Creators: Abele, Eberhard and Hähn, Felix and Pischan, Matthias and Herr, Florian
Title: Time Optimal Path Planning for Industrial Robots Using STL Data Files
Language: English
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.

Journal or Publication Title: Procedia CIRP, 5th CIRP Global Web Conference – Research and Innovation for Future Production, Elsevier B.V.
Volume: 55
Uncontrolled Keywords: energy control; load management; machine tools
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Production Management, Technology and Machine Tools (PTW)
16 Department of Mechanical Engineering > Institute of Production Management, Technology and Machine Tools (PTW) > Machine tools and Components
Date Deposited: 24 Nov 2016 14:07
Official URL: http://dx.doi.org/10.1016/j.procir.2016.08.038
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