3 accepted papers
We provide a novel solution to the problem of robot tool path generation to uniformly cover the surface area of a curved surface with varying curvatures by using a circular, flat finishing tool. We first develop a local contact shape descriptor using tools from differential geometry to estimate the
In this paper, we develop a novel path-constrained and collision-free optimal trajectory planning algorithm for robot manipulators in the presence of obstacles for the following problem: Given a desired sequence of discrete waypoints of robot configurations, a set of robot kinematic and dynamic cons…
Surface finishing of freeform surfaces is predominately a manual operation that requires a considerable amount of operator skill; automation of this process has many benefits, including consistent surface quality, preventing hazardous exposure to particulate, etc. A novel robotic surface finishing s…