Fractal Path Generation for a Metal-Mold Polishing Robot System and Its Evaluation by the Operability

This paper suggests a new method of Fractal path generation in a robot system of polishing metal molds It is conducted through the generation of a planer Peano curve in the X-Y domain and its orthogonal projection onto the free-form surface of a workpiece The orientation of the end-effector along the path is set perpendicular to the surface By calculating the sum of operability of the robotic linkage along the path the path can be evaluated from the ease of the rebots’ motion The experiments inclusive of the polishing force control are illustrated and a brief conclusion made.