Robotic trajectory planning based on CL data

摘要

It is crucial to plan trajectory in robotic finishing with complex surface in manufacturing industry. While traditional robot programming for grinding is still time consuming and not cost-effective generally. This paper focuses on automatic trajectory planning based on the cutter location (CL) data generated in CAD/CAM system. It not only explores a suitable way to convert the G code which obtained from CL data to robot programming directly through Visual Studio, but also automatically extract motion data from G code and generate the KUKA robot paths/programs in PC. In addition, simulation of robot's kinematics models are implemented in MATLAB to verify the robot reachability. An experiment in Unigrahics, MATLAB and real robot illustrates the grinding trajectory composed of CL data is appropriated.