We introduce a method for V-shape groove mutilayer path planning. This method plans the welding layers, sequence, as well as all welding points (with pose in 2d) for V-shape groove. In the algorithm, the welding bead geometry has been approximated into parallelograms or trapezoids for simplification. And the manner for welding path is planned in a side-to-center, left-to-right, bottom-to-top manner. It allows such calculation on V-groove with various thickness, assembly clearance, and groove angle.
The code mainly follows 5 steps:
- Groove definition
- Layer cutting
- Segmentation
- Geometry points identification
- Weld path planning
