Related papers: Length-optimal tool path planning for freeform sur…
The aim of tool path planning is to maximize the efficiency against some given precision criteria. In practice, scallop height should be kept constant to avoid unnecessary cutting, while the tool path should be smooth enough to maintain a…
The most important aim in tool path generation methods is to increase the machining efficiency by minimizing the total length of tool paths while the error is kept under a prescribed tolerance. This can be achieved by determining the moving…
Manufacturing of free form parts relies on the calculation of a tool path based on a CAD model, on a machining strategy and on a given numerically controlled machine tool. In order to reach the best possible performances, it is necessary to…
Multiply connected freeform surface features are widely encountered in industrial components, where toolpath generation often suffers from discontinuities, sharp turns, non-uniform scallop heights, and incomplete boundary coverage. This…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
This paper presents a new method to generate iso-scallop tool paths for triangular mesh surfaces. With the popularity of 3D scanning techniques, scanning-derived mesh surfaces have seen a significant increase in their application to…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
The quality of tool paths is a dominant factor in CNC machining, determining its efficiency and accuracy. This paper provides a brief review (in Chinese) on tool path planning methods reported in the literature, focusing on their…
Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
In this paper, we address the problem of synthesizing optimal path plans in a 2D subject to spatio-temporal and thermal constraints. Our solution consists of reducing the path planning problem to a Mixed Integer Linear Programming (MILP)…
This study presents a spiral-based complete coverage strategy for ball-end milling on freeform surfaces, utilizing conformal slit mapping to generate milling trajectories that are more compact, smoother, and evenly distributed when…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
The computational consuming and non-robust reconstruction from point clouds to either meshes or spline surfaces motivates the direct tool path planning for point clouds. In this paper, a novel approach for planning iso-parametric tool path…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
This paper presents a method for optimal motion planning of continuum robots by employing Bernstein surfaces to approximate the system's dynamics and impose complex constraints, including collision avoidance. The main contribution is the…