Adaptive Toolpath Generation for Wire Geometric Elements in Cyber-physical System for Cobotic Finishing

Conventional machine tools, such as CNC machines, were mainly used for finishing applications, however they lack flexibility. Over the past decades, industries have increasingly turned to robotic solutions as a cost-effective alternative capable of processing larger and more complex workpieces. This paper focuses on the development of an adaptative toolpath generation algorithm needed in a new collaborative robotic system for finishing operations. The algorithm transforms geometric elements into toolpath poses as a function of user-defined parameters such as tolerance, maximum distance between consecutive points and collision control surface offset. Implemented in C++, the algorithm is integrated into a cyber-physical system developed using Robot Operating System (ROS) with a user-friendly interface. Experiments on the platform demonstrates the algorithm’s performance.