Time Optimal Path Planning for Industrial Robots Using STL Data Files

This paper presents an approach based on the A*-Algorithm to generate time optimal tool paths for a robot based deburring process of internal contours. Besides the optimization of the deburring process by using special deburring tools with proper parameters the robots trajectory between the individual points has to be optimized to minimize the deburring process. The simulation environment OpenRAVE with a Matlab interface is used to find the shortest path by solving the traveling salesman problem of a graph automatically generated using the workpiece in the Surface Tessellation Language (STL) data file.