A New Method for Generating Work Piece Surface Representations for Robotic Machining

Nikolaj Westphal Leth*, Henrik Gordon Petersen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

6 Downloads (Pure)

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
(C1) 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 are also very
suitable for robotics applications. However, they lack the C1
property across the triangle edges.
In this paper, a new method for generating C1 surfaces
based on 3D triangle meshes is presented. It will be shown
by an example that the method is as good as existing methods
with respect to the accuracy of the generated surface, and that
the problem with large curvatures is much smaller than for
existing methods. Moreover, the difficult input specification of
derivatives at the vertices is avoided with this method.
Original languageEnglish
Title of host publication2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication date2021
Pages7607-7614
ISBN (Electronic)978-1-6654-1714-3
DOIs
Publication statusPublished - 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Online, Prague, Czech Republic
Duration: 27. Sep 20211. Oct 2021
Conference number: 34
https://www.iros2021.org/

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number34
LocationOnline
Country/TerritoryCzech Republic
CityPrague
Period27/09/202101/10/2021
Internet address
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

Fingerprint

Dive into the research topics of 'A New Method for Generating Work Piece Surface Representations for Robotic Machining'. Together they form a unique fingerprint.

Cite this