An application of variational grid generation techniques to the tool-path optimization of industrial milling robots

We introduce a new area of application of variational grid generation techniques to optimize the tool-path of an industrial milling robot. Our approach is based on a global approximation of the required surface by a virtual surface composed from tool trajectories. The procedure combines inverse kinematics techniques and a variational gridding method endowed with constraints related to the required scallop height. The proposed technique allows for the generation of a tool-path for workpieces with complex geometries comprising islands or boundaries with sharp edges requiring a combined spiral-zigzag pattern. Finally, the proposed technique provides a significant increase in the accuracy of milling.