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A Geodesic-Based Robot Trajectory Planning Approach for Cold Spray Applications

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Abstract

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.

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Acknowledgments

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.

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Authors and Affiliations

  1. Automation School, Wuhan University of Technology, Wuhan, 430000, China

    Zhenhua Cai, Xufeng Liang, Beigao Chen, Chunnian Zeng, Chen Chen, Zixin Mu & Tingyang Chen

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  1. Zhenhua Cai
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  2. Xufeng Liang
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  3. Beigao Chen
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  4. Chunnian Zeng
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  5. Chen Chen
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Correspondence to Beigao Chen.

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Cai, Z., Liang, X., Chen, B. et al. A Geodesic-Based Robot Trajectory Planning Approach for Cold Spray Applications. J Therm Spray Tech 28, 939–945 (2019). https://doi.org/10.1007/s11666-019-00871-3

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