A Path Planning Method Based on Robot Automatic Grinding of Drills

摘要

Abstract This paper proposes a path planning method for grinding excess material after PDC bit repair using industrial robots. Firstly, a 3D scanning instrument is used to obtain point cloud data of the bit to be ground, secondly, this data are imported into Geomagic Studio for processing to obtain the triangular sheet file of the area to be ground. Finally, the software based on MATLAB is used to process the file and calculate the motion path of the robot end-effector. The generated path is imported into ROS for simulation. By comparing the generated path with the grinding area, it was verified that the generated path could be used in actual operation.