Fractal path application in a metal mold polishing robot system

This paper describes an industrial application of fractal paths in a metal mold polishing robot system. This is characterized by the fact that a fractal curve is suitable to cover a free-form surface uniformly at any complexity due to its plane-filling and self-similar characteristics. Path generation is discussed in terms of the parameter domain of a spline surface and its orthogonal projection. The robot system consists of an articulated industrial robot of 6 d.o.f. and a polishing end-effector with the contact force control. The polishing experiments as to the contact force control and fractal paths are presented.<
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