Path Generation for Robot Polishing System Based on Cutter Location Data

摘要

Polishing work is in most cases made by manual labour. It is an extremely laborious operation which demands a lot of time, so it is very expensive. This study aims at rationalizing such difficult polishing work by introducing a robot and CAD technology. Instead of the conventional complicated teaching process. A trajectory generator based on cutter location data generated from the postprocessor of a CAD system is discussed. To realize the smooth interpolation of the tool orientations, a quaternion interpolation algorithm between two CL data is proposed.