Global optimization of functional redundancy in a 6R robot for smoothing five-axis milling operations

Functional redundancy optimization is one of the most effective ways to improve robotic posture and performance. However, owing trade-off between smoothness robot's motion other important aspects performance, problem too nonlinear be solved in milling processes. In this article, a derivation shown that will approximately smooth when functional redundancies for each cutter location are smoothing variables. On basis, Legendre surrogate model constructed plan overall optimal by remarkably reduced computation. Moreover, trimmed sequential linear programming method proposed solution further. From outcomes 3D S-shaped grooves real experiment, robot paths planned methods achieve more stable tool-tip performance than comparable methods, while being several times or even 10 faster computational efficiency.