Keywords
trajectory generation
collaborative robot
How to Cite
Abstract
This article introduces a novel algorithm for automatic trajectory generation in surface cladding, based on triangulation of the working area and a specially designed red–black graph structure. The proposed method enables the computation of a maximal alternating path, providing continuous and technologically optimized tool motion that avoids repeated arc extinguishing. This approach is innovative within the domain of welding-path planning, combining computational geometry with graph-based analysis. The algorithm was implemented and experimentally validated using a Hanhwa HCR5 collaborative robot. The resulting trajectories demonstrated high motion stability and favourable clad properties, including reduced residual stresses compared to conventional unidirectional cladding strategies. The findings confirm that the proposed algorithm is a promising tool for the automation and optimization of cladding processes, with strong potential for integration with vision systems and advanced robotic control frameworks.
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