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Abstract: This paper presents a NC toolpath generation strategy with tool engagement control for arbitrarily complex discrete part geometry, which reduces machining time and tool wear and can be used in high speed machining. The toolpath computation is based on image models for design part, raw stock and cutting tool, and involves pixel-based simulation of the milling process. Simulation results and comparison with existing methods are presented. [Copyright &y& Elsevier]

Abstract: This paper proposes a heuristic algorithm for near-optimal handling of the redundancy in robot mechanisms, applied to a 3D scanning platform consisting of a 6-DOF articulated robot arm which moves a laser sensor around a workpiece placed on a rotary table. The proposed method handles both static constraints, like avoiding joint limits, kinematic singularities or collisions, modelled using a configuration map viewed as a grayscale image, and dynamic constraints like velocity and acceleration. The algorithm is compared with Dijkstra algorithm, which gives the optimal solution, but is very slow, and with two other heuristics which are very fast, but give suboptimal solutions. [Copyright &y& Elsevier]