Subdivision path planning for robot polishing irregular surface

Aiming at the problem that the precision of robot polishing irregular surface is not high, a quadratic subdivision planning of irregular surface based on curvature and processing technology is proposed according to the computer graphics information, the characteristics of surface construction and the optimal path of robot polishing. Firstly, the irregular surface is constructed, and the graphical information of the irregular surface is obtained by computer, then the curvature of the whole irregular surface is calculated. According to a certain range of curvature, the surface is divided into several irregular surface pieces. The second is to divide the surface pieces into regular rectangles surface pieces according to the highest efficiency when the robot's trajectory is equidistant rectangle. The simulation results of subdivision planning show that the precision of robot polishing can be improved according to the quadratic subdivision programming.