Qin Hu, Runqi Yang, Xu Zhang, and Liang Huang
Robotic machining, tool path smoothing, C3 continuity, redundant angle, synchronisation
The corner smoothing method is commonly used to smooth linear tool paths of robotic machining, and the robot pose optimisation method is usually adopted to improve robot stiffness. However, the robot pose is optimised by adjusting the redundant angle, which does not affect the tool pose and has not been considered in the process of tool path smoothing. The discontinuous redundant angle affects the continuity of the robotic axis motion, which would result in breakage. This study proposes an innovative C3 continuous robotic tool path smoothing method with shape-preserving, redundant angle, and accurate real-time interpolations. First, to ensure accurate real- time interpolation, only the tooltip position corner is smoothed by the C3 continuous Pythagorean-hodograph spline with the error tolerance constraint. Second, the tool orientation and redundant angle are smoothed by the C3 continuous B-spline, which has fewer control points and more efficient interpolation. Third, to guarantee the synchronisation of the three smoothed tool paths, a transitive synchronisation strategy is proposed. The simulations and experiments verified that the proposed method could obtain jerk continuous axis motion with shape-preserving interpolation. Comparative experiments showed that the proposed method could significantly reduce the tracking error of each axis.
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