A Geodesic-Based Robot Trajectory Planning Approach for Cold Spray Applications
- 51 Downloads
This paper presents a geodesic-based robot trajectory planning approach to fulfill the increasingly high reproducibility and coating quality requirements for cold spray applications. First, on the basis of Gauss–Bonnet theorem, the selection of a reference curve is discussed with the aim of minimizing the entire length of subsequent offset curves. An index sequence-based offset curve is created, and its discrete algorithm is then introduced to generate the optimal trajectory. Finally, a comparative experiment and analysis indicate that the presented trajectory planning approach can achieve coating thickness homogeneity.
Keywordscold spray curve discrete free-form surface geodesics optimal trajectory
The work is supported by the National Natural Science Foundation of China (No. 61603281), the Fundamental Research Funds for the Central Universities (WUT: 2017IVB038), the Open Funds of the Key Lab of Digital Signal and Image Processing of Guangdong Province (No. 2017GDDSIPL-04), the WUT Start-Up Grant (40120173) and the Strategic Scientist Plan of Wuhan University of Technology.
- 10.P. Atkar, H. Choset, A. Rizzi, Towards Optimal Coverage of 2-Dimensional Surfaces Embedded in IR3: Choice of Start Curve, in Proceeding of the 2003 IEEE International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, Oct 2003Google Scholar