TY - JOUR
T1 - Novel surface optimization for trajectory reconstruction in industrial robot tasks
AU - Funes-Lora, Miguel Angel
AU - Vega-Alvarado, Eduardo
AU - Rivera-Blas, Raúl
AU - Calva-Yáñez, María Barbara
AU - Sepúlveda-Cervantes, Gabriel
N1 - Publisher Copyright:
© The Author(s) 2021.
PY - 2021/12/14
Y1 - 2021/12/14
N2 - This study presents a novel algorithm implementation that optimizes manually recorded toolpaths with the use of a 3D-workpiece model to reduce manual error induced. The novel algorithm has three steps: workpiece declaration, manual toolpath declaration, and toolpath optimization using steepest descent algorithm. Steepest descent finds the surface route wherein the manually recorded toolpaths traverse over a 3D-workpiece surface. The optimized toolpaths were simulated and tested with an industrial robot showing minimal error compared to the desired optimized toolpaths. The results obtained from the presented implementation on three different trajectories demonstrate that the proposed methodology can reduce the manual error induced using as a reference the CAD-workpiece surface.
AB - This study presents a novel algorithm implementation that optimizes manually recorded toolpaths with the use of a 3D-workpiece model to reduce manual error induced. The novel algorithm has three steps: workpiece declaration, manual toolpath declaration, and toolpath optimization using steepest descent algorithm. Steepest descent finds the surface route wherein the manually recorded toolpaths traverse over a 3D-workpiece surface. The optimized toolpaths were simulated and tested with an industrial robot showing minimal error compared to the desired optimized toolpaths. The results obtained from the presented implementation on three different trajectories demonstrate that the proposed methodology can reduce the manual error induced using as a reference the CAD-workpiece surface.
KW - Free-form surface
KW - industrial robot
KW - optimization algorithm
KW - point cloud data
UR - http://www.scopus.com/inward/record.url?scp=85121365524&partnerID=8YFLogxK
U2 - 10.1177/17298814211064767
DO - 10.1177/17298814211064767
M3 - Artículo
AN - SCOPUS:85121365524
SN - 1729-8806
VL - 18
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
IS - 6
ER -