BLENDING TOOL PATHS FOR G1-CONTINUITY IN ROBOTIC FRICTION STIR WELDING

Mikael Soron, Ivan Kalaykov

Abstract

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.

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Paper Citation


in Harvard Style

Soron M. and Kalaykov I. (2007). BLENDING TOOL PATHS FOR G1-CONTINUITY IN ROBOTIC FRICTION STIR WELDING . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 92-97. DOI: 10.5220/0001624400920097


in Bibtex Style

@conference{icinco07,
author={Mikael Soron and Ivan Kalaykov},
title={BLENDING TOOL PATHS FOR G1-CONTINUITY IN ROBOTIC FRICTION STIR WELDING},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={92-97},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001624400920097},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - BLENDING TOOL PATHS FOR G1-CONTINUITY IN ROBOTIC FRICTION STIR WELDING
SN - 978-972-8865-83-2
AU - Soron M.
AU - Kalaykov I.
PY - 2007
SP - 92
EP - 97
DO - 10.5220/0001624400920097