Tool-path generation for industrial robotic surface-based application

  • He LyuEmail author
  • Yue Liu
  • Jiao-Yang Guo
  • He-Ming Zhang
  • Ze-Xiang Li


Industrial robots are widely used in various applications such as machining, painting, and welding. There is a pressing need for a fast and straightforward robot programming method, especially for surface-based tasks. At present, these tasks are time-consuming and expensive, and it requires an experienced and skilled operator to program the robot for a specific task. Hence, it is essential to automate the tool-path generation in order to eliminate the manual planning. This challenging research has attracted great attention from both industry and academia. In this paper, a tool-path generation method based on a mesh model is introduced. The bounding box tree and kd-tree are adopted in the algorithm to derive the tool path. In addition, the algorithm is integrated into an offline robot programming system offering a comprehensive solution for robot modeling, simulation, as well as tool-path generation. Finally, a milling experiment is performed by creating tool paths on the surface thereby demonstrating the effectiveness of the system.


Industrial robot Tool path generation Simulation Intelligent manufacturing 



Funding was provided by Research Grants Council, University Grants Committee (Grant No. 16205915) and Innovation and Technology Commission (HK) (Grant No. TS/216/17FP).


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Copyright information

© Shanghai University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Electronic and Computer EngineeringHong Kong University of Science and TechnologyHong KongPeople’s Republic of China
  2. 2.Hong Kong University of Science and Technology, Shenzhen Research InstituteShenzhenPeople’s Republic of China

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