A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding

Table 1

List of input parameters.

Parameter	The meaning of the parameter
	Width of belt wheel (unit: mm)
D	The range of rotation area on the belt wheel (unit: degree)
M	Dispersion quantity of variable t (unit: 1)
ΔT	Maximal difference between two adjacent nodes (unit: 1)
	Pose matrix of initial tool coordinate system {G0} to the base coordinate system {B}
	Pose matrix of workpiece coordinate system {T} to the coordinate system {6}