Study on the Algorithm for Industrial Robot Programming in Free-Form Surfaces Polishing

For its advantages and characteristics of multiple degrees of freedom, the industrial robots have been widely used in mold and die of free-form surfaces polishing. However, too many degrees of freedom of industrial robots also bring great difficulties in programming process. This paper studies the mechanism of the free-form surface polishing process by an industrial robot, and analysis motion planning and ending posture of the surface polishing operations on the robot. By studying the algorithm for robot programming and the generation of NC code based on surface polishing, it laids the foundation for robot off-line programming system developed by standard CAD/CAM system.