Abstract
In this paper, automatic programming for dual robots is proposed to realize autonomous robotic grinding of intersecting curves. Compared to grinding with a single robot, dual robots provide more degree-of-freedom to optimize the grinding path. In this paper, a special grinding path, named as intersecting grinding curve, will be realized by the dual robots. Since the intersecting curve is generated by two motions, the dual robots can decouple the motion and finish this task much easier and more effective than a single robot. Also, the motion of each joint becomes smoother, which will benefit for robotic grinding.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Tie, Z., Fan, O.: Offline motion planning and simulation of two-robot welding coordination. Front. Mech. Eng. 7(1), 81–92 (2012)
Gan, Y., Dai, X.: Base frame calibration for coordinated industrial robots. Robot. Auton. Syst. 59(7–8), 563–570 (2011)
Lu, Z., Xu, C., Pan, Q., et al.: Kinematic constraint analysis in a twin-robot system for curved-surface nondestructive testing. Ind. Robot Int. J. 43(2), 172–180 (2016)
Caccavale, F., Natale, C., Siciliano, B., Villani, L.: Quaternion-based impedance control for dual-robot cooperation. In: Hollerbach, J.M., Koditschek, D.E. (eds.) Robotics Research, pp. 59–66. Springer, London (2000). https://doi.org/10.1007/978-1-4471-0765-1_8
Shi, L., Tian, X., Zhang, C.: Automatic programming for industrial robot to weld intersecting pipes. Int. J. Adv. Manuf. Technol. 81(9–12), 2099–2107 (2015)
Chen, C., Hu, S., He, D., Shen, J.: An approach to the path planning of tube-sphere intersection welds with the robot dedicated to J-groove joints. Robot. Comput. Integr. Manuf. 29(4), 41–48 (2013)
Acknowledgements
Research supported by the National Key Research and Development Program of China under Grant 2017YFB1301504 and the National Science Foundation of China under Grant 91748204.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Han, S., Zhao, X., Fan, Q., Tao, B. (2019). Automatic Programming for Dual Robots to Grinding Intersecting Curve. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_43
Download citation
DOI: https://doi.org/10.1007/978-3-030-27529-7_43
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27528-0
Online ISBN: 978-3-030-27529-7
eBook Packages: Computer ScienceComputer Science (R0)