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Blending tool paths for G1-continuity in robotic friction stir welding
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
2007 (English)In: Proceedings of the fourth international conference on informatics in control, automation and robotics, Robotics and automation 2, Angers, France, May 9-12, 2007 / [ed] Janan Zaytoon, Jean-Louis Ferrier, Juan Andrade-Cetto, Joaquim Filipe, 2007, p. 92-97Conference paper, Published paper (Other academic)
Abstract [en]

In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction StirWelding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G1 continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.

Place, publisher, year, edition, pages
2007. p. 92-97
Keyword [en]
robotics, friction stir welding, path planning
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-4286ISBN: 978-972-8865-83-2 (print)OAI: oai:DiVA.org:oru-4286DiVA, id: diva2:138585
Conference
4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, Angers, France, May 9-12
Available from: 2008-11-26 Created: 2008-11-26 Last updated: 2017-10-18Bibliographically approved

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Soron, MikaelKalaykov, Ivan

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  • asciidoc
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