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Authors: Mikael Soron and Ivan Kalaykov

Affiliation: Örebro University, Sweden

ISBN: 978-972-8865-83-2

Keyword(s): Robotics, friction stir welding, path planning.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

Abstract: In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G1 continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.

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Paper citation in several formats:
Soron M.; Kalaykov I. and (2007). BLENDING TOOL PATHS FOR G1-CONTINUITY IN ROBOTIC FRICTION STIR WELDING.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 92-97. DOI: 10.5220/0001624400920097

@conference{icinco07,
author={Mikael Soron and Ivan Kalaykov},
title={BLENDING TOOL PATHS FOR G1-CONTINUITY IN ROBOTIC FRICTION STIR WELDING},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={92-97},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001624400920097},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - BLENDING TOOL PATHS FOR G1-CONTINUITY IN ROBOTIC FRICTION STIR WELDING
SN - 978-972-8865-83-2
AU - Soron, M.
AU - Kalaykov, I.
PY - 2007
SP - 92
EP - 97
DO - 10.5220/0001624400920097

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