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<p>Corner smoothing for linear tool paths is critical to improving trajectory tracking accuracy in complex manufacturing tasks for industrial robots. However, existing C<sup>3</sup> continuous smoothing methods for 6R industrial robots fail to preserve the path shape, and shape-preserving smoothing methods for five-axis machines cannot adapt to the coupled kinematics of 6R robots. To address this problem, this paper proposes an analytical C<sup>3</sup> continuous local corner smoothing method with shape preservation for industrial robots. First, the tool tip position is smoothed directly in the workpiece coordinate system (WCS) by constructing micro B-spline curves and adjusting control points to ensure that the tool path interpolates the discrete tool path points precisely. The constructed transition curves are optimized to reduce curvature while satisfying the deviation error tolerance. Then, the tool orientation is smoothed after being converted into three rotary Euler angles. Finally, parameter synchronization of the tool orientation with respect to the tool tip position is achieved by adjusting transition lengths and using shared curve parameters. The proposed local corner smoothing method not only ensures C<sup>3</sup> continuity and shape preservation but also significantly improves tool path precision and smoothness. The effectiveness of the proposed method is verified through experimental results on an industrial robot with 6 rotational (6R) joints.</p>

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An analytical C3 continuous local corner smoothing method with shape preservation for industrial robots

  • 期刊论文

  • 发表日期：

    2026年7月21日

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  • Wanjin Guo,
  • Heng Zhu,
  • Mingkun Xu,
  • Jinhu Dang,
  • Chuqing Cao,
  • Lijun Zhao,
  • Kai Ding

摘要

Corner smoothing for linear tool paths is critical to improving trajectory tracking accuracy in complex manufacturing tasks for industrial robots. However, existing C3 continuous smoothing methods for 6R industrial robots fail to preserve the path shape, and shape-preserving smoothing methods for five-axis machines cannot adapt to the coupled kinematics of 6R robots. To address this problem, this paper proposes an analytical C3 continuous local corner smoothing method with shape preservation for industrial robots. First, the tool tip position is smoothed directly in the workpiece coordinate system (WCS) by constructing micro B-spline curves and adjusting control points to ensure that the tool path interpolates the discrete tool path points precisely. The constructed transition curves are optimized to reduce curvature while satisfying the deviation error tolerance. Then, the tool orientation is smoothed after being converted into three rotary Euler angles. Finally, parameter synchronization of the tool orientation with respect to the tool tip position is achieved by adjusting transition lengths and using shared curve parameters. The proposed local corner smoothing method not only ensures C3 continuity and shape preservation but also significantly improves tool path precision and smoothness. The effectiveness of the proposed method is verified through experimental results on an industrial robot with 6 rotational (6R) joints.