Manipulator motion planning for high-speed robotic laser cutting

@article{Dolgui2009ManipulatorMP,
  title={Manipulator motion planning for high-speed robotic laser cutting},
  author={Alexandre Dolgui and Anatoly Pashkevich},
  journal={International Journal of Production Research},
  year={2009},
  volume={47},
  pages={5691 - 5715}
}
Recent advances in laser technology, especially the increase of the cutting speed, has motivated the amendment of the existing robot path methods, which do not allow the complete utilisation of the actuator capabilities and neglect certain particularities in the mechanical design of the wrist of the manipulator arm. This research addresses the optimisation of the six-axis robot motion for continuous contour tracking while considering the redundancy caused by the tool axial symmetry. The… 
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