摘要：Low rigidity of industrial robot can easily result in deformations during grinding process and finally lead to a deviation between planned path and actual path. In order to reduce impact of the deviation, with an analysis of the relationship among feed velocity, deformation, and trajectory planning, a deformation-based trajectory optimization approach is proposed in this article. The relationship among grinding angle, feed velocity, deformation, and interpolation point planning is first studied and two velocity constraints are proposed. The positions of interpolation points are then adjusted in accordance with the velocity constraints to optimize trajectory. Experiment results indicate that the proposed trajectory optimization approach can significantly reduce the deformation and vibration occurring in robotic grinding process.
