相关论文: Geometric simulation of locally optimal tool paths…
Existing approaches to trajectory planning for autonomous racing employ sampling-based methods, generating numerous jerk-optimal trajectories and selecting the most favorable feasible trajectory based on a cost function penalizing…
Within the context of High Speed Machining, it is essential to manage the trajectory generation to achieve both high surface quality and high productivity. As feed drives are one part of the set Machine tool - Numerical Controller, it is…
This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…
Accurate estimation of production times is critical for effective manufacturing scheduling, yet traditional methods relying on expert analysis or historical data often fall short in dynamic or customized production environments. This paper…
Triangular meshes are a widely used representation in the field of 3D modeling. In this paper, we present a novel approach for edge length-based linear subdivision on triangular meshes, along with two auxiliary techniques. We conduct a…
We present a method for enforcing manufacturability constraints in generated parts such that they will be automatically ready for fabrication using a subtractive approach. We primarily target multi-axis CNC milling approaches but the method…
We propose a novel computational framework for optimizing the toolpath continuity in fabricating surface models on an extrusion-based 3D printer. Toolpath continuity has been a critical issue for extrusion-based fabrications that affects…
Making a product conform to the functional requirements indicated by the customer suppose to be able to manage the manufacturing process chosen to realise the parts. A simulation step is generally performed to verify that the expected…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design…
We propose a novel method to generate a small set of ruled surfaces that do not collide with the input shape for linear hot-wire rough machining. Central to our technique is a new observation: the ruled surfaces constructed by vertical…
We present the free and open source software TAS-Paths, a novel system which calculates optimal, collision-free paths for the movement of triple-axis spectrometers. The software features an easy to use graphical user interface, but can also…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…
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…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
This paper presents a learning based planner for computing optimized 3D printing toolpaths on prescribed graphs, the challenges of which include the varying graph structures on different models and the large scale of nodes & edges on a…
Additive manufacturing of metal parts involves phase transformations and high temperature gradients which lead to uneven thermal expansion and contraction, and, consequently, distortion of the fabricated components. The distortion has a…