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Blending tool paths for G1-continuity in robotic friction stir welding
Örebro University, Department of Technology.
Örebro University, School of Science and Technology.
2007 (English)Conference paper, Published paper (Refereed)
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 Stir Welding (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
Series
ICINCO 2007 - 4th International Conference on Informatics in Control, Automation and Robotics, Proceedings ; 2 RA
Keywords [en]
Friction stir welding, Path planning, Robotics, 3-dimensional, Bezier curve, Control loop, G1 continuity, Hermite, Optimization strategy, Second order derivatives, Toolpath, Blending, Friction, Gas welding, Robot applications, Robots, Tribology
National Category
Computer Engineering
Research subject
Computer Engineering
Identifiers
URN: urn:nbn:se:oru:diva-31978OAI: oai:DiVA.org:oru-31978DiVA, id: diva2:655851
Conference
4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, 9 May 2007 through 12 May 2007, Angers
Note

Sponsors: Centre National de la Recherche Scientifique (CNRS)

Available from: 2013-10-14 Created: 2013-10-14 Last updated: 2018-01-11Bibliographically approved

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Soron, MikaelKalaykov, Ivan

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf