Path planning of robotic griding for workpieces with complex surface

Robotic grinding for workpiece with complex surface is a new processing method. The theory and implementation of path planning is the key of this method. To solve time-consuming problem of path planning with demonstration system, we established a complete set of process for griding path planning. The relation of the coordinates transformation was analyzed in this method. And the method to access the matrix of coordinates transformation was also discussed. Then the analysis of tool position was studied in theory and was realized by a self-designed software. Robot kinematics model was established and solved at last. The method can be directly used for the robotic control by solving the movement of the joints. We proved the method was suitable for path planning of robotic grinding by using the movement for a simulation.