A method and device for robot polishing path planning based on conformal mapping

By transforming complex 3D surfaces into 2D parameter domains for path planning through conformal mapping, the problems of large computational load and uneven paths in existing technologies are solved, achieving efficient and adaptable path generation, which is suitable for robotic grinding of complex surfaces.

CN121132689BActive Publication Date: 2026-07-14SHENZHEN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHENZHEN UNIV
Filing Date
2025-10-29
Publication Date
2026-07-14

AI Technical Summary

Technical Problem

Existing robotic polishing path planning technologies suffer from problems such as high computational load, uneven path density, complex calculations, and poor real-time performance, making it difficult to efficiently handle complex curved surfaces.

Method used

A conformal mapping method is adopted to map complex 3D surfaces to a 2D parameter domain for path planning. The parameterization is performed by the boundary-first BFF conformal mapping algorithm. The feasible path is generated by combining Polygon boundary constraints and LineString path clipping. Finally, the path is inversely mapped to the 3D model through Delaunay triangulation to generate an efficient planning path.

Benefits of technology

It reduces the computational complexity of path planning, improves the adaptability and coverage uniformity of path planning, can handle complex free-form surfaces of arbitrary shapes, and improves processing efficiency and quality.

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Abstract

The application provides a robot polishing path planning method based on conformal mapping, comprising: obtaining a model to be polished, and mapping the model to be polished to a two-dimensional parameter domain through conformal mapping to obtain a two-dimensional mapping model; performing boundary constraint and path clipping on the two-dimensional mapping model according to a preset machining area to obtain a feasible path; generating a two-dimensional path according to the two-dimensional mapping model and the feasible path; and inversely mapping the two-dimensional path to the model to be polished to generate a planning path. By mapping the model to be polished to a two-dimensional parameter domain, the path planning problem of a complex three-dimensional surface is converted into a simplified problem in a two-dimensional parameter domain through differential geometry theory, the adaptability of path planning to a geometric model is improved, the calculation complexity is reduced through an efficient discretization and local optimization algorithm while ensuring high coverage.
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