Enhanced trajectory planning for machining with industrial six-axis robots

This paper presents a practical approach to adapt the trajectory planning stage for industrial robots to realize continuous machining operations. Firstly, L₁ interpolation is introduced to generate efficiently the tool-paths in the form of shape-preserving quintic splines. Then, the tool-tip feedrate planning in Cartesian space is done using a smooth jerk limited pattern and taking into account the joints kinematics constraints. Experimental validations conducted on a 6-axis industrial robot demonstrate the effectiveness of the proposed methodology of trajectory planning in the context of machining.