Method and Apparatus for Generating a Reciprocating Sanding or Polishing Path
AssigneeABB Schweiz AG
InventorsWenyao Shao, Wenhui Deng, Hao Liu
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Abstract
A method and an apparatus for generating a reciprocating sanding or polishing path. The method includes: obtaining geometric data for a curved surface to be sanded or polished; determining path parameters for a reciprocating sanding or polishing path having a plurality of back-and-forth path cycles to be used for the curved surface based on the geometric data, such that a spacing value between any two adjacent back-and-forth path cycles varies with a curvature of the curved surface; and generating the reciprocating sanding or polishing path based on the determined parameters.
Claims19
A method for generating a reciprocating sanding or polishing path, comprising:
- obtaining geometric data for a curved surface to be sanded or polished;
- determining path parameters for a reciprocating sanding or polishing path having a plurality of back-and-forth path cycles to be used for the curved surface based on the geometric data, such that a spacing value between any two adjacent back-and-forth path cycles varies with a curvature of the curved surface;
- and
- generating the reciprocating sanding or polishing path based on the determined parameters.
An apparatus for generating a reciprocating sanding or polishing path comprising:
- a processor configured to implement a method for generating a reciprocating sanding or polishing path and obtaining geometric data for a curved surface to be sanded or polished, the steps including;
- determining path parameters for a reciprocating sanding or polishing path having a plurality of back-and-forth path cycles to be used for the curved surface based on the geometric data, such that a spacing value between any two adjacent back-and-forth path cycles varies with a curvature of the curved surface;
- and
- generating the reciprocating sanding or polishing path based on the determined parameters.
A robot comprising:
- a processor configured to implement a method for generating a reciprocating sanding or polishing path and obtaining geometric data for a curved surface to be sanded or polished, the steps including;
- determining path parameters for a reciprocating sanding or polishing path having a plurality of back-and-forth path cycles to be used for the curved surface based on the geometric data, such that a spacing value between any two adjacent back-and-forth path cycles varies with a curvature of the curved surface;
- and
- generating the reciprocating sanding or polishing path based on the determined parameters;
- and
- an end effector coupled to the controller and configured to enable a sanding tool held thereon to sand or polish the curved surface in accordance with the generated reciprocating sanding or polishing path.
A computer readable medium having a computer program stored thereon which, when executed by a processor, implements a method of obtaining geometric data for a curved surface to be sanded or polished, the steps including;
- determining path parameters for a reciprocating sanding or polishing path having a plurality of back-and-forth path cycles to be used for the curved surface based on the geometric data, such that a spacing value between any two adjacent back-and-forth path cycles varies with a curvature of the curved surface;
- and
- generating the reciprocating sanding or polishing path based on the determined parameters.
Dependencies are inferred from the claim text.