激光飞行标刻系统及激光加工机器人控制与仿真研究
|
摘要
激光加工机器人以高能激光束为加工工具,以多自由度机器人运动机构实现激光束运动传输,聚焦激光束在工件上按控制系统预先编程设计的2D二维或三维3D加工轨迹精确运动,实现各种材料的点、线、面多种形式多种工艺的控型控性加工,是当今最为活跃的先进制造技术之一,在机械制造、微电子加工、产品包装等各领域得到广泛应用。
本文进行了2D激光飞行标刻系统和3D激光加工机器人仿真的研究。基于PC平台研制了激光飞行标刻控制卡和控制软件,研究进行了激光标刻标刻路径智能优化、激光飞行标刻控制算法以及最大飞行速度性能标刻速度影响因素等问题的研究。。研究了3D激光加工机器人运动建模仿真系统及3D激光加工路径的生成方法。在研制的激光飞行标刻软件平台上,开展了激光加工路径(Laser Processing Path, LPP)智能优化算法的研究。分析了点群加工、线条笔划加工、闭合轮廓加工三类LPP优化问题的数学模型,针对线条笔划路径优化问题,提出了一种采用正负整数进行染色体基因编码的新方案。结合λ? opt启发式算法和免疫算法思想设计实现了基于优生策略的免疫遗传算法。根据三角形三边关系定理设计了消除染色体自相交的缺陷的平滑免疫算子;提出了“最优染色体内部任意积木块必定是最优路径”的完美积木块准则,并据此设计了3段局部优化免疫算子。两类免疫算子的引入使遗传算法获得了均匀的进化过程、更快的收敛速度和优良的局域优化能力。应用该算法进行路径优化测试结果良好显示:,激光标刻跳跃路径经过优化后长度缩短了48.96%,振镜标刻整个图形的加工时间减少了5.34%～~8.57%。该优化算法可广泛应用于激光切割、焊接、打孔等激光加工控制系统以提高系统工作效率,。
研究了激光飞行标刻扫描幅面约束特性和、激光飞行标刻控制算法对以及激光飞行标刻速度性能的影响影响因素等问题。首先分析了生产线恒速和变速运动状态下激光飞行标刻控制的的位移跟踪模型特点,设计实现了开环计算和闭环检测两类运动位移补偿算法并进行了实验,研究结果表明:开环计算跟踪算法在不需要增加额外硬件的情况下能完成对恒速运动工件的飞行标刻;闭环位移检测跟踪算法适合恒速和变速各种情况,具有速度自适应的优点。进一步研究了激光飞行标刻扫描幅面约束特性((Scanning Area Limitation , SAL))、最大标刻位移(Maximum MarkableOffset, MMO)、最大标刻时间(Maximum Markable Time, MMT)等问题,推导出激光飞行标刻最大飞行速度((Maximum Flying Velocity, MFV))与沿工件运动方向的最大标刻位移成正比,与标刻时间成反比,实验结果与MFV公式计算值结果吻合良好。还研究了标刻图形对象的不同扫描路径顺序对MFV的影响,分析比较研究了了完全进入后扫描标刻AEM((All Entered Marking, AEM))、逐行先进入先扫描标刻RFEFM((Rowed First Entering First Marking, RFEFM))、先进入先扫描标刻FEFM((First Entering First Marking, RFEFM))算法对MFV的影响。研究结果表明采用FEFM算法可以获得对于多种标刻图形的最佳的激光飞行标刻速度性能。MFV公式以及FEFM扫描算法的提出对于工业领域激光飞行标刻系统的性能评价和改进具有指导意义。
进行了3D激光加工机器人仿真系统的研究。从激光加工应用的角度分析了5自由度激光加工机器人系统结构,推导了3P2R框架式机器人和5R旋转关节机器人正、逆向运动学计算公式,并分析了两种机器人运动机构的特点及定位误差。在自行开发的激光飞行标刻控制软件基础上,引入OpenGL图形引擎,自主开发实现了圆柱关节臂和STL模型关节臂的3D激光加工机器人建模装配及正、逆向运动仿真功能。研究了3D空间平面加工图形和示教3D示教插值曲线加工路径的编辑方法,并实现了机器人加工仿真。基于Open CASCADE造型内核开发了更具真实感的3D激光加工机器人仿真系统,设计实现了由IGES文件导入3D工件模型,通过对3D模型拓扑图元的分析,提取模型边数据点的位置信息和法线信息,经过融合处理后生成3D激光加工路径,实现了复杂3D零件复杂的激光加工路径的生成。3D激光加工机器人仿真的研究为研制开放式激光加工机器人控制系统以及激光加工离线编程系统奠定了基础。
Laser processing robot is one of the advanced manufacturing techniques which integrates the technologies of lasers, robots, CIMS, CAD\CAM, material processing and so on. The laser beam with high power density was transferred through fiber or mirrors mounted on multi-joints mechanics and the focused laser was controlled to move along with the pre-programmed graphics accurately on the material surface to realize various 2D or 3D processing works of dots, lines or curves and surfaces.
In this dissertation, the studies are focused on the control system of 2D laser flying marking and the simulation system of 3D laser processing robots. The control card based on PCI bus and the control software based on windowsWindows OS for laser flying marking were developed, the related algorithms were investigated, which includes motion-tracking model, graphics objects scanning path and laser processing path (LPP) optimization. Different modeling methods for 5-dof laser processing robots were analyzed, the kinematics formula and processing path generating methods were studied and a processing simulation system for 3D robot was realized.
Laser processing path optimization problems were analyzed and an immune genetic algorithm was designed to optimize them. A novel path sequence chromosome model that consists of signed integer genes was presented, in which the absolute value of the gene is the stroke index, the position of gene in the chromosome indicates the processing order and the sign represents the processing direction. Two immune operators, smooth immune operator and 3-segs optimal immune operator based on heuristic information were brought forward to improve the GA search performance. Smooth immune operator is based on the common triangle inequality theorem, which was designed to eliminate the self-intersection faults of chromosome. 3-segs optimal immune operator is based on perfect building block theorem and it is a local optimal operator. The combination of both immune operators would improve the search speed and local-search performance of GA significantly. The experimental results showed that 48.96% of air path in a marking graphics was shortened and 8.57% of total laser marking time was reduced. This algorithm could be widely used for other applications such as laser welding, laser marking, laser show and so on.
The control algorithms for laser flying marking system have been studied in this dissertation. Different motion-tracing methods including open-loop computing method and closed-loop offset-detecting method were analyzed and compared. For open-loop computing method, the moving offset is computed according to a motion tracing formula, which is only suitable for applications of constant speed. For closed-loop offset detecting method, moving offset is fed back directly from the rotary coder and it represents real displacement of work piece at any moment, hence it is suitable for both applications of constant or variable velocity. Secondly, the flying speed performance of laser flying marking system have been studied. The scanning area limitation (SAL) specialty and defined maximum markable time(MMT) and maximum marking offset(MMO) were proposed. A maximum flying velocity (MFV) formula of laser flying marking system has been deduced and the impacting factors, including marking time, the length of marking graphics in the moving direction and the marking order of graphics object, were studied. All objects entered marking(AEM), rowed first object entered first marking (RFEFM) and first object entering first marking(FEFM), were presented. Experimental results satisfied theoretical MFV calculations and it showed that there was a best MFV performance when using FEFM scanning path algorithm in transverse moving direction. Above work will benefit for the industrial field to improve the performance of laser flying marking system.
3D laser processing robot simulation has been investigated in this dissertation. Firstly, the joints mechanics and laser transferring path of different dof robots were analysed. The forward and inverse kinematics equations of 3D laser processing robots (3P2R and 5R structure) have been derived and the location errors of both structure were analyzed. Based on the OpenGL environment we developed a simulation system for 3D laser processing robots, and realized the function of editing processing paths of plane graphics and intersection spline in 3D environment. Based on the Open CASCADE 3D engine, we developed another simulation system for 3D robot, in which the robot model is assembled with IGES files joints model and complex processing path of 3D accessory edges could be generated automatically from its model topology data. These work could be useful for the development of control system or off-line program system for laser processing robots in the future.
本文进行了2D激光飞行标刻系统和3D激光加工机器人仿真的研究。基于PC平台研制了激光飞行标刻控制卡和控制软件,研究进行了激光标刻标刻路径智能优化、激光飞行标刻控制算法以及最大飞行速度性能标刻速度影响因素等问题的研究。。研究了3D激光加工机器人运动建模仿真系统及3D激光加工路径的生成方法。在研制的激光飞行标刻软件平台上,开展了激光加工路径(Laser Processing Path, LPP)智能优化算法的研究。分析了点群加工、线条笔划加工、闭合轮廓加工三类LPP优化问题的数学模型,针对线条笔划路径优化问题,提出了一种采用正负整数进行染色体基因编码的新方案。结合λ? opt启发式算法和免疫算法思想设计实现了基于优生策略的免疫遗传算法。根据三角形三边关系定理设计了消除染色体自相交的缺陷的平滑免疫算子;提出了“最优染色体内部任意积木块必定是最优路径”的完美积木块准则,并据此设计了3段局部优化免疫算子。两类免疫算子的引入使遗传算法获得了均匀的进化过程、更快的收敛速度和优良的局域优化能力。应用该算法进行路径优化测试结果良好显示:,激光标刻跳跃路径经过优化后长度缩短了48.96%,振镜标刻整个图形的加工时间减少了5.34%～~8.57%。该优化算法可广泛应用于激光切割、焊接、打孔等激光加工控制系统以提高系统工作效率,。
研究了激光飞行标刻扫描幅面约束特性和、激光飞行标刻控制算法对以及激光飞行标刻速度性能的影响影响因素等问题。首先分析了生产线恒速和变速运动状态下激光飞行标刻控制的的位移跟踪模型特点,设计实现了开环计算和闭环检测两类运动位移补偿算法并进行了实验,研究结果表明:开环计算跟踪算法在不需要增加额外硬件的情况下能完成对恒速运动工件的飞行标刻;闭环位移检测跟踪算法适合恒速和变速各种情况,具有速度自适应的优点。进一步研究了激光飞行标刻扫描幅面约束特性((Scanning Area Limitation , SAL))、最大标刻位移(Maximum MarkableOffset, MMO)、最大标刻时间(Maximum Markable Time, MMT)等问题,推导出激光飞行标刻最大飞行速度((Maximum Flying Velocity, MFV))与沿工件运动方向的最大标刻位移成正比,与标刻时间成反比,实验结果与MFV公式计算值结果吻合良好。还研究了标刻图形对象的不同扫描路径顺序对MFV的影响,分析比较研究了了完全进入后扫描标刻AEM((All Entered Marking, AEM))、逐行先进入先扫描标刻RFEFM((Rowed First Entering First Marking, RFEFM))、先进入先扫描标刻FEFM((First Entering First Marking, RFEFM))算法对MFV的影响。研究结果表明采用FEFM算法可以获得对于多种标刻图形的最佳的激光飞行标刻速度性能。MFV公式以及FEFM扫描算法的提出对于工业领域激光飞行标刻系统的性能评价和改进具有指导意义。
进行了3D激光加工机器人仿真系统的研究。从激光加工应用的角度分析了5自由度激光加工机器人系统结构,推导了3P2R框架式机器人和5R旋转关节机器人正、逆向运动学计算公式,并分析了两种机器人运动机构的特点及定位误差。在自行开发的激光飞行标刻控制软件基础上,引入OpenGL图形引擎,自主开发实现了圆柱关节臂和STL模型关节臂的3D激光加工机器人建模装配及正、逆向运动仿真功能。研究了3D空间平面加工图形和示教3D示教插值曲线加工路径的编辑方法,并实现了机器人加工仿真。基于Open CASCADE造型内核开发了更具真实感的3D激光加工机器人仿真系统,设计实现了由IGES文件导入3D工件模型,通过对3D模型拓扑图元的分析,提取模型边数据点的位置信息和法线信息,经过融合处理后生成3D激光加工路径,实现了复杂3D零件复杂的激光加工路径的生成。3D激光加工机器人仿真的研究为研制开放式激光加工机器人控制系统以及激光加工离线编程系统奠定了基础。
Laser processing robot is one of the advanced manufacturing techniques which integrates the technologies of lasers, robots, CIMS, CAD\CAM, material processing and so on. The laser beam with high power density was transferred through fiber or mirrors mounted on multi-joints mechanics and the focused laser was controlled to move along with the pre-programmed graphics accurately on the material surface to realize various 2D or 3D processing works of dots, lines or curves and surfaces.
In this dissertation, the studies are focused on the control system of 2D laser flying marking and the simulation system of 3D laser processing robots. The control card based on PCI bus and the control software based on windowsWindows OS for laser flying marking were developed, the related algorithms were investigated, which includes motion-tracking model, graphics objects scanning path and laser processing path (LPP) optimization. Different modeling methods for 5-dof laser processing robots were analyzed, the kinematics formula and processing path generating methods were studied and a processing simulation system for 3D robot was realized.
Laser processing path optimization problems were analyzed and an immune genetic algorithm was designed to optimize them. A novel path sequence chromosome model that consists of signed integer genes was presented, in which the absolute value of the gene is the stroke index, the position of gene in the chromosome indicates the processing order and the sign represents the processing direction. Two immune operators, smooth immune operator and 3-segs optimal immune operator based on heuristic information were brought forward to improve the GA search performance. Smooth immune operator is based on the common triangle inequality theorem, which was designed to eliminate the self-intersection faults of chromosome. 3-segs optimal immune operator is based on perfect building block theorem and it is a local optimal operator. The combination of both immune operators would improve the search speed and local-search performance of GA significantly. The experimental results showed that 48.96% of air path in a marking graphics was shortened and 8.57% of total laser marking time was reduced. This algorithm could be widely used for other applications such as laser welding, laser marking, laser show and so on.
The control algorithms for laser flying marking system have been studied in this dissertation. Different motion-tracing methods including open-loop computing method and closed-loop offset-detecting method were analyzed and compared. For open-loop computing method, the moving offset is computed according to a motion tracing formula, which is only suitable for applications of constant speed. For closed-loop offset detecting method, moving offset is fed back directly from the rotary coder and it represents real displacement of work piece at any moment, hence it is suitable for both applications of constant or variable velocity. Secondly, the flying speed performance of laser flying marking system have been studied. The scanning area limitation (SAL) specialty and defined maximum markable time(MMT) and maximum marking offset(MMO) were proposed. A maximum flying velocity (MFV) formula of laser flying marking system has been deduced and the impacting factors, including marking time, the length of marking graphics in the moving direction and the marking order of graphics object, were studied. All objects entered marking(AEM), rowed first object entered first marking (RFEFM) and first object entering first marking(FEFM), were presented. Experimental results satisfied theoretical MFV calculations and it showed that there was a best MFV performance when using FEFM scanning path algorithm in transverse moving direction. Above work will benefit for the industrial field to improve the performance of laser flying marking system.
3D laser processing robot simulation has been investigated in this dissertation. Firstly, the joints mechanics and laser transferring path of different dof robots were analysed. The forward and inverse kinematics equations of 3D laser processing robots (3P2R and 5R structure) have been derived and the location errors of both structure were analyzed. Based on the OpenGL environment we developed a simulation system for 3D laser processing robots, and realized the function of editing processing paths of plane graphics and intersection spline in 3D environment. Based on the Open CASCADE 3D engine, we developed another simulation system for 3D robot, in which the robot model is assembled with IGES files joints model and complex processing path of 3D accessory edges could be generated automatically from its model topology data. These work could be useful for the development of control system or off-line program system for laser processing robots in the future.
引文
[1]王家金,黄维玲等.激光加工技术.北京:中国计量出版社, 1992. 9~12
[2]关振中.激光加工工艺手册.北京:中国计量出版社, 1998. 8~9
[3]王恺宜.激光加工市场蓬勃发展.机电信息. 2007, (4): 42~44
[4]邓树森.我国激光加工产业现状及市场展望.光机电信息,2007, (2): 19~22
[5] http://www.trumpf.com/
[6] http://www.stars-laser.com/
[7] Bo Gu. Review-40 Years of Laser marking-industrial applications. Photon Processing in Microelectronics and Photonics V. Proc. of SPIE 2006, 6106: 610601~1
[8] Bolforte D.A. The turn around begins (economic review and forecast) global report of industrial lasers. Industrial Laser Solution, 2003, 18(1): 7~13
[9]宋威廉.激光加工技术的发展.激光与红外, 2006, (9): 755~758
[10]孙文.中国激光材料加工发展现状.激光与光电子学进展, 2004, 41( 1): 54~56
[11]陈苗海.国内外激光加工产业和市场发展概况.光机电信息, 2004, (9): 1~11
[12]钟敏霖,刘文今.国际激光加工研究的最新进展.激光产品世界, 2003, (5): 21~ 25
[13]赵小云,程祖海.掩模激光标刻系统的改进.激光杂志, 2002, 23(6): 57~58
[14]程勇.激光标刻技术.激光杂志, 1996, 17(4): 201~204
[15]虞孝舜.双振镜扫描几何畸变的校正.激光与红外, 1998, (6): 45~48
[16] Ming Jiang, Jianhua Yu, Xiaoling Luo et.al. Study on graphic distortion in laser display. Chinese Journal of Lasers B (English Edition), 1999, (12): 509~512
[17]陈忠,刘晓东.激光振镜扫描系统的快速软件校正算法研究.华中科技大学学报(自然科学版), 2003, (5): 68~70
[18] Mingfei Chen, Yupin Chen, Wentse hsiao. Correction of field distortion of laser marking systems using surface compensation function. Optics and Lasers in Engineering, 2009, 27: 84–89
[19] J.Paulo Davima, Nuno Barricasa, Marta Conceic, et al. Some experimental studies on CO2 laser cutting quality of polymeric materials. journal of materials processing technology. 2008, 198: 99–104
[20] I.A.Choudhury, S.Shirley. Laser cutting of polymeric materials: an experimentalinvestigation. Optics & Laser Technology, 2010, 42: 503–508
[21]谢小柱,李力钧,张屹等.激光切割金属厚板新技术.激光技术, 2005., 29(3): 251~254
[22] K.Abdel Ghany, H.Abdel Rafea, M.Newishy. Using a Nd:YAG laser and six axes robot to cut zinc-coated steel. J Adv Manuf Technol, 2006, 28: 1111~1117
[23] K.Abdel Ghany, H.Abdel Rafea, M.Newishy. Cutting of 1.2mm thick austenitic stainless steel sheet using pulsed and CW Nd:YAG laser. Journal of Materials Processing Technology,2005, 168: 438~447
[24] Richar Mandel. Metal cutting at light speed. Welding Design and Fabrication, 2006, 79(7): 16~20
[25]姚远.激光加工技术在汽车工业中的应用.汽车工艺与材料, 2004, (2): 19~21
[26]陈根余,曹茂林,黄丰杰.三维激光切割的应用和研究.激光与光电子学进展, 2007, 44(3): 38~42
[27] Robert Bogue. Cutting robots: a review of technologies and applications. Industrial Robot, 2008, 35(5): 390–396
[28]阎启.汽车用冷轧钢板的激光切割.机械工程材料, 2002, 26(9): 25~26
[29] Seiji Katayama,Yousuke Kawahito. Laser direct joining of metal and plastic. Scripta Materialia, 2008, 59: 1247~1250
[30] Manuel Sieben, Frank Brunnecker, Laser-hybrid welding, an innovative technology to join automotive body parts , Physics Procedia, 2010, 5(8): 61~68
[31]曾钢,袁少波.拼焊板在汽车工业中的应用.电焊机, 2004, 34(6): 12~15
[32]谭善馄,张亚峰.高强度冷轧钢板在奇瑞轿车上的应用研究.汽车工艺与材料, 2003, (6): 10~14
[33]王春燕.激光拼焊板制轿车整体侧围内板成形关键技术的研究: [博士学位论文].长春:吉林大学, 2008
[34] L.Quintino, A.Costa, R.Miranda. Welding with high power fiber lasers– A preliminary study. Materials and Design, 2007, 28: 1231~1237
[35] Cui Li, Kutusna Muneharua, Simizu Takao, et al. Fiber laser-GMA hybrid welding of commercially pure titanium, Materials and Design, 2009, 30: 109~114
[36] Cheolhee Kim, Junghak Kim, Hyunsik Lim et al. Investigation of laser remote welding using disc laser. journal of materials processing technology. 2008, 201: 521~525
[37] M.F.Zaeh, J.Moesl, J.Musiola, et al. Material processing with remote technologyrevolution or evolution?. Physics Procedia, 2010, 5(8) : 19~33
[38]陈炜,吴毅明,吕盾等.差厚激光拼焊板门内板的成形性能研究.中国机械工程, 2006, 17(11): 1188~1190
[39]刘建华,张群莉,胡伦骥.高硅钢板的YAG激光在线拼接新工艺.激光技术, 2004, 28(1): 16~19
[40]樊丁,中田一博,牛尾诚夫. YAG激光与脉冲MIG复合焊接.焊接学报, 2002, 23(5): 81~84
[41] Weichiat Chen, Paul Ackerson, Pal Molian. CO2 laser welding of galvanized steel sheets using vent holes. Materials and Design, 2009, 30: 245~251
[42] Xiaoshu Jin, Xichen Yang. Off-Line Programming of a robot for laser re-manufacturing. Tsinghua Science and Technology, 2009, 14(6): 186~191
[43]宋立杰,张桂香,赵杰等.激光焊接机器人离线编程分析与实现.制造技术与机床, 2008, (12): 113~116
[44]何广忠.机器人弧焊离线编程系统及其自动编程技术的研究: [博士学位论文].哈尔滨:哈尔滨工业大学工学, 2006
[45]田劲松.机器人弧焊任务级离线编程技术的研究. [博士学位论文].哈尔滨:哈尔滨工业大学工学, 2001
[46]张国顺,张健,张泰石等. PCI总线在数控激光加工系统中的应用.中国工程科学, 2002, (6): 25~28
[47] Jonathan S. Ehrmann. Optics for vector scanning. Beam Dellection and Scanning Technologies of SPIE, 1991. 245~256
[48] Yuhong Huang. Virtual marker head for laser marking system design. Optical Scanning of SPIE, 2005. 45~55
[49] Bo Gu. New laser marking technology using ultra-fast lasers. Photon Processing in Microelectronics and Photonics IV of SPIE, 2005. 132~136
[50] Yiqun Ji. Weimin Shen and jianjun Yu. Large Working area f-theta lens. ICO20: Optical Design and Fabrication of SPIE, 2006. 6034: 60341N1~4
[51] Y.F.Lu. L.P.Li. K.Mendu, J.Shi .Laser applications in integrated circuits and photonics packaging. Photon Processing in Microelectronics and Photonics III of SPIE, 2004. 427~440
[52] Ruediger Hack. State-of-the-art in fiber laser marking.Advances in Fiber Devices. L.N.Durvasula. Editor of SPIE, 2003. 202~208
[53] Sumio Nakahara. Yoshihiro Okino. Masaaki Takita. Shigeyoshi Hisada and Takeyoshi Fujita. Direct laser marking on ROM media for identification. Photon Processing in Microelectronics and Photonics II of SPIE, 2003. 411~416
[54] S.C.Tam. Y.M.Noor. L.E.N.Lim. et al. Marking of leadless chip carriers with a pulsed Nd:YAG laser. Proc. I. Mech. Eng, 1993. 179~192
[55] S.Tezuka, M.Yoshikawa. Study on the marking processing of IC packages by YAG laser. J. Japan Soc. Prec. Eng, 1991, 25(4): 297~298
[56] X.Wen, C.Xie, L.Lin. Research on marking of enameiware with excimer laser . Proc. SPIE. 1996. 316~320
[57] Yasutaka Hanada1, Koji Sugioka1, Iwao Miyamoto. et al. Colour marking of transparent materials by laser-induced plasma-assisted ablation (LIPAA). Journal of Physics, 2007, 59: 687–690
[58] Masaru Kawarazaki, Noriyo Sakurada, Yoshio Ishii et al. Color printing on plastics using a slab. RF excited CO2 laser. Third International Symposium on Laser Precision Microfabrication of SPIE, 2003. 419~423
[59] Hajime Ebisutani, Noriyo Sakurada, Yoshio Ishii et al. Artistic processing on acrylic materials using a segmented pixel drawing method with a slab. RF excited CO2 laser. Proceeding of GCL-HPL, 2000. 18~22
[60] Noriyo Sakurada, Yoshio Ishii, Hajime Ebisutani.et al. Asegmented pixel drawing method using a slab RF excited CO2 laser for artistic sculpture. Proceeding of SPIE, 1999. 349~356
[61] Thomas Kuntze, Udo Klotzbach. Eckhard Beyer. Excimer lasers turning flexible variable marking with micro mirror devices. Photon Processing in Microelectronics and Photonics III of SPIE, 2004. 518~523
[62] B.Dusser, Z.Sagan, A.Foucou, et al. News applications in authentication and traceability using ultrafast laser marking. Laser Applications in Microelectronic and Optoelectronic Manufacturing VII of SPIE, 2009. 72010V1~8
[63]戴书华.曲平面激光打标系统的研究.长春光学精密机械学院学报, 1999, 22(2): 46~49
[64]揭彦秋.激光内雕工业的发展状况.光机电信息, 2007, (2): 30~32
[65]孙永荣,刘建业.基于双CPU的激光打标机控制系统设计.工业控制计算机, 2001, 14(5): 52~54
[66]张李超,钱波,黄树槐.高性能激光打标机软件体系结构.现代机械, 2006, (2):1~2
[67] Mingfei Chen, Yupin Chen, Wentse Hsiao. A scribing laser marking system using DSP controller. Optics and Lasers in Engineering, 2008, 46: 410–418
[68]刘晓东,李又生,胡兵等.复杂区域的快速激光雕刻算法研究.光电子·激光, 1997, 8(5): 387~390
[69]刘晓东,胡兵,何云贵.激光雕刻的数学模型及快速算法研究.计算机辅助设计与图形学学报, 1999, 11(2): 151~153
[70]刘斌,阮锋,黄树槐.分层实体制造技术中激光切割路径的优化.华南理工大学学报(自然科学版), 2001, 29(1): 1~3
[71]陈继民.大功率CO2激光三维智能加工CAM的研究. [博士学位论文]北京:北京工业大学, 2001. 32~109
[72]刘会霞,王霄,蔡兰.钣金件数控激光切割割嘴路径的优化,计算机辅助设计与图形学学报, 2004, 16(5): 660~665
[73]李郝林,陈飒,郭弘其.激光切割最短路径的一种计算方法,工具技术, 2005, 39(2): 25~27
[74]李泳,张宝峰.复杂轮廓激光切割路径优化算法的研究.天津理工大学学报, 2007, 23(3): 76~79
[75]张礼兵,吴婷,袁根福等.基于遗传算法的激光打孔路径优化.机电工程, 2007, 24(6): 77~79
[76]师文庆.振镜扫描式激光点焊技术中扫描路径的优化.应用激光, 2008, 28(4): 332~335
[77] Guk-chan Han, Suck-joo Na, A study on torch path planning in laser cutting processes. part 2 : cutting path optimization using simulated annealing. Journal of Manufacturmg Processes, 1999, 1(1): 62~70
[78] S.Q.Xie, J.Gan. Optimal process planning for compound laser cutting and punch using Genetic Algorithms. Int. J. Mechatronics and Manufacturing Systems, 2009, 2: 20~38
[79] Wang G.G. and Xie S.Q. Optimal process planning for a combined punch and laser cutting machine using ant colony optimisation, International Journal of Production Research, 2005, 43(11): 2195–2216
[80] Cuneyt Oysu, Zafer Bingul. Application of heuristic and hybrid-GAS algorithms to tool-path optimization problem for minimizing airtime during machining.Engineering Applications of Artificial Intelligence. 2009, 22: 389~396
[81] Oduguwa, A.Tiwari, R.Roy. Evolutionary computing in manufacturing industry: an overview of recent applications. Applied Soft Computing. 2005, 5: 281–299
[82]张健.激光动态标刻系统研究: [博士学位论文].天津:天津大学, 2003
[83]陈敏,胡兵,郭飞等.激光飞动标刻软件研究.激光杂志, 2003. 24(3): 64~65.
[84]彭飞等.一维扫描激光飞动标刻研究.激光杂志, 2007, 28(1): 85~86
[85]蔡兵等.基于DSP和CPLD的激光飞动标刻研究.激光技术, 2007, 31(4): 387~390
[86]蒋毅,周宏,蒋明.基于PC的激光标刻系统控制卡设计.计算机测量与控制, 2004, 12(6): 544~546
[87]蒋毅,蒋明.基于PCI的激光标刻控制系统研究,现代电子技术, 2009, (6): 15~18
[88] Ming Jiang, Yi Jiang, Xiao Yan Zeng. Study of Laser Flying Marking System. Optical Engineering, 2007. 46(9): 09430
[89]蔣毅,蔣明.并行D/A转换器件AD5547及其接口设计,世界电子元器件, 2007, (3): 45~47
[90]李成,张国顺,张贵忠等.激光飞行打标校正技术研究.光电子·激光, 2006, 17(11): 1381~1383
[91]赵曰峰,陈兴海,郑义等.振镜式在线激光打标扫描方案的设计.应用激光, 2004, 24 (1): 41~43
[92]汤漾平,段正澄,李鹤九.多用途五轴联动激光加工系统.制造技术与机床, 1997, (11): 12~13
[93]汤漾平,龚时华,段正澄.多用途数控三维激光加工机床的若干关键技术.华中理工大学学报, 1998, 26(8): 16~17
[94]谢耀辉,朱国力,段正澄等.三维激光切割加工中曲面法矢获取算法的研究.华中理工大学学报, 1999, 27(1): 50~52
[95]虞钢,虞和济.集成化激光智能加工工程.北京:冶金工业出版社, 2002. 389~423
[96]颜永振,虞钢,王立新等.集成激光制造系统的开放式控制研究.计算机集成制造系统, 2007, 13(10): 1006~5911
[97]巫德彬,尹显明.基于PC的开放式数控系统.机械工程与自动化, 2006, 12(6): 171~172
[98]李永明,王健.焊接机器人控制系统的研究.仪表技术, 2009, (6): 31~33
[99]张永强,陈武柱,张旭东.基于PC的开放式多功能激光加工数控系统.应用激光, 2004, 24(6): 368~370
[100]傅桂龙,程筱胜.基于PC的开放式数控系统实现方法.机械设计与制造工程, 2002, 29 (1): 45~46
[101]石尚锋,胡俊,罗磊.全软件型激光切割数控系统的研究开发.机械设计与制造, 2008, (3): 154~156
[102]汤漾平,杨丰羽,朱国力等.激光切割加工工艺参数选取的神经网络方法.锻压机械, 1998, (5): 40~41
[103]徐路宁,王霄,张永康.基于CMAC神经网络的激光切割加工工艺参数的选取.电加工与模具, 2002, (2): 44~47
[104]张永强.激光切割质量同轴视觉检测与控制的研究: [博士学位论文].北京:清华大学, 2006
[105]胡伦骥,王春明,骆红等.激光切割的实时监测.激光应用, 1998, 18(4): 164~166
[106] Tomaz Kek, Janez Grum. Monitoring laser cut quality using acoustic emission. International Journal of Machine Tools & Manufacture , 2009, (49): 8–12
[107] Alippi C, Bono V, Piuri V.et al. Toward real-time quality analysis measurement of metal laser cutting. VIMS'02.2002 IEEE International Symposium, 2002, 5: 39~44
[108]张永强,吴艳华.激光束姿态对三维激光切割质量的影响.中国激光, 2006, 33(1): 124~127
[109]陈继民,左铁钏. CO2激光三维方位切割的人工神经网络分析.中国激光, 2004, 31(2): 245~248
[110]陈继民,左铁钏.激光切割中入射角对切割质量的影响.中国激光, 2001, 28 (11): 1037 ~1040
[111] Giovanni Tani, Luca Tomesani. Quality factors assessed by analytical modeling in laser cutting. Thin Solid Films, 2004, 453: 486~491
[112] Shang Liang Chen. The effects of high-pressure assistant-gas flow on high-power CO2 laser cutting . Journal of Materials Processing Technology, 1999, 88: 57~66
[113]王春明,胡伦骥,胡席远等.镀锌版的激光剪裁拼焊工艺及接头性能研究.电焊机, 2004, 34(9): 17~10
[114] Shanjin Lv. Yang Wang. An investigation of pulsed laser cutting of titanium alloysheet.Optics and Lasers in Engineering, 2006, 44: 1067–1077
[115] Hubert Pagès, HervéPiombini, Franck Enguehard, et al. Demonstration of paper cutting using single emitter laser diode and infrared-absorbing ink. Optics Express, 2005, 13 (7): 2351~2357
[116] Bagger C, Olsen F O. Pulsed mode laser cutting of sheets for tailored blanks. Journal of Materials Processing Technology, 2001, 115(1): 131~135
[117] G.Reinhart, U.Munzert, W.Vogl. A programming system for robot-based remote- laser-welding with conventional optics. CIRP Annals - Manufacturing Technology, 2008, 57: 37–40
[118]崔茂源.基于虚拟现实技术与监控理论的机器人示教系统研究: [博士学位论文].长春:吉林大学, 2004
[119] Lothar Bauer. Offline-programming of 3D Laser Systems. 2787 of SPIE, 1996. 34~42
[120] P.Th.Zacharia, N.A.Aspragathos. Optimal robot task scheduling based on genetic algorithms. Robotics and Computer-Integrated Manufacturing, 2005, 21: 67–79
[121] Eberhard Roos,Arno Behrens. Off-line programming of industrial robots-Adaptation of simulated user programs to the real environment. Computers in Industry, 1997, 33: 139~150
[122] Robert Mahr.示教机器人.现代制造, 2004, (28): 36~37
[123]罗桂成,刘壮,高长水.长距离激光焊接离线编程平台开发. CAD/CAM与制造业信息化, 2007, (2): 132~134
[124]刘蓉,刘明.激光打标中TrueType字体的轮廓提取与打标实现.计算机应用与软件, 2005, 22 (7): 72~74
[125]苏少卿. AutoCAD的字型文件(.SHX)的结构和利用.计算机应用研究, 1995, (6): 65~67
[126]杨奎,王锡洁,孙丽媛等.激光雕刻系统中矢量图形输出的研究.仪表技术, 2008, (11): 59~61
[127]李芳珍,许伦辉. DXF文件格式及其外部接口的研究.软件开发与应用, 2008, 27(7) : 83~85
[128]陈元琰,张睿哲,吴东.计算机图形学实用技术(第2版).北京:清华大学出版社, 2007. 166~167
[129]孙家广.计算机图形学. (第3版).北京:清华大学出版社, 1998. 308~318
[130] Samuel R.Buss著,唐龙等译. 3D计算机图形学. (OpenGL版).北京:清华大学出版社, 2006. 211~213
[131]苏丽杰,聂义勇.现实旅行商问题.小型微型计算机系统, 2005, 26(4): 655~657
[132]高海昌,冯博琴,朱利.智能优化算法求解TSP问题.控制与决策, 2006, l21(3): 241~248
[133]魏英姿,赵明扬,黄雪梅等.求解TSP问题的贪心遗传算法.计算机工程, 2004, 30(19): 19~21
[134] Keld Helsgaun. An effective implementation of the Lin–Kernighan traveling salesman heuristic. European Journal of Operational Research, 2000, 126: 106~130
[135] Andreas C. Nearchou. The effect of various operators on the genetic search for large scheduling problems. Int. J. Production Economics, 2004, 88: 91~203
[136] Kenneth Castelino, Roshan D'Souza, and Paul K.Wright. Toolpath optimization for minimizing airtime during machining. Journal of Manufacturing Systems, 2002, 22(3): 173~180
[137] D.Karapetyan, G.Gutin. Lin-kernighan heuristic adaptations for the generalized traveling salesman problem. European Journal of Operational Research, 2010, DOI: 10.1016: 1~26
[138]赵曦,林健良,卢修泉等.求解第二类广义旅行商问题的虚顶点遗传算法.计算机工程与应用, 2006, 15: 78~81
[139]王美华,田绪红,廖鸿翔.求解广义旅行商问题的混合染色体遗传算法.计算机工程与应用, 2009, 45(27): 59~62
[140]李小花,朱征宇,夏梦霜.多车场CARP问题的改进遗传算法求解.计算机工程与应用, 2009, 45(11): 230~234
[141] Ke Tang, Xin Yao. Memetic algorithm with extended neighborhood search for capacitated arc routing problems. IEEE Transactions on Evolution Computation, 2009, 13(5): 1151~1166
[142] Lining Xing, Philipp Rohlfshagen, Yingwu Chen, et al. An evolutionary approach to the multidepot capacitated arc routing problem. IEEE Transactions on Evolutionary Computation, 2010, 14(3): 356~374
[143]田玉波,钱鉴.计算智能与计算电磁学.北京:科学出版社, 2008. 9~34
[144]王辉,钱锋.群体智能优化算法.化工自动化及仪表, 2007, 34(5): 7~13
[145]马良,朱刚,宁爱兵.蚁群优化算法.北京:科学出版社, 2008. 28~47
[146]李晓磊,邵之江,钱积新.一种基于动物自治体的寻优模式:鱼群算法.系统工程理论与实践, 2002, 22(11): 32~38
[147]张军,詹志辉,陈伟能等.计算智能.北京:清华大学出版社, 2009. 131~200
[148]蔡自兴,龚涛.免疫算法研究的进展.控制与决策, 2004, 19(8): 841~846
[149]张晋,李冬黎,李平.遗传算法编码机制的比较研究.中国矿业大学学报, 2002, 31(6): 637~640
[150]赵青.遗传算法三种编码策略的比较研究.微型电脑应用, 2008, 24(5): 47~50
[151]蒋明,蒋毅,曾晓雁.激光飞行标刻运动跟踪技术.中国激光, 2007, 34(2): 199~202
[152]蒋明,蒋毅.激光飞行标刻扫描幅面约束特性及最大飞行速度性能分析.中国激光,2009, 36(4): 993~997
[153] Ming Jiang, Yi Jiang, Xiao Yan Zeng. Scanning path planning for graphic objects in laser flying marking system. Optical Engineering.,2008, 47(10): 094302
[154]熊有伦.机器人技术基础.武汉:华中理工大学出版社, 1996. 15~50
[155] John J.Craig.机器人学导论. (原书第3版).北京:机械工业出版社, 2006. 88~93
[156]彭艳,谢少荣,罗均.多轴激光加工机器人光路几何误差建模方法研究.仪器仪表学报, 2010, 31(9): 2068~2074
[157] Richard P.Paul, Bruce Shimano, Gordon E.Mayer. Kinematic control equations for simple manipulators. IEEE Transactions on SMC, 1981, 11(6): 449~455
[158] C.S.G.Lee, M.Ziegler. A geometric approach in solving the inverse kinematics of PUMA Robots. IEEE Transactions on Aerospace and Electronic Systems,1984, 20(6): 695~706
[159]马铁利.机械CAD几何建模核心技术及其发展趋势.计算机工程, 2003, 29(11): 1~4
[160]苑国强,张渊.采用Open CASCADE的三维建模平台的开发研究.工程图学学报, 2008, (4): 146~149
[161] www.opencascade.org.
[162] Richard S.Wright, Jr. Benjamin Lipchak. OpenGL超级宝典. (第三版).北京:人民邮电出版社, 2005. 100~124
[2]关振中.激光加工工艺手册.北京:中国计量出版社, 1998. 8~9
[3]王恺宜.激光加工市场蓬勃发展.机电信息. 2007, (4): 42~44
[4]邓树森.我国激光加工产业现状及市场展望.光机电信息,2007, (2): 19~22
[5] http://www.trumpf.com/
[6] http://www.stars-laser.com/
[7] Bo Gu. Review-40 Years of Laser marking-industrial applications. Photon Processing in Microelectronics and Photonics V. Proc. of SPIE 2006, 6106: 610601~1
[8] Bolforte D.A. The turn around begins (economic review and forecast) global report of industrial lasers. Industrial Laser Solution, 2003, 18(1): 7~13
[9]宋威廉.激光加工技术的发展.激光与红外, 2006, (9): 755~758
[10]孙文.中国激光材料加工发展现状.激光与光电子学进展, 2004, 41( 1): 54~56
[11]陈苗海.国内外激光加工产业和市场发展概况.光机电信息, 2004, (9): 1~11
[12]钟敏霖,刘文今.国际激光加工研究的最新进展.激光产品世界, 2003, (5): 21~ 25
[13]赵小云,程祖海.掩模激光标刻系统的改进.激光杂志, 2002, 23(6): 57~58
[14]程勇.激光标刻技术.激光杂志, 1996, 17(4): 201~204
[15]虞孝舜.双振镜扫描几何畸变的校正.激光与红外, 1998, (6): 45~48
[16] Ming Jiang, Jianhua Yu, Xiaoling Luo et.al. Study on graphic distortion in laser display. Chinese Journal of Lasers B (English Edition), 1999, (12): 509~512
[17]陈忠,刘晓东.激光振镜扫描系统的快速软件校正算法研究.华中科技大学学报(自然科学版), 2003, (5): 68~70
[18] Mingfei Chen, Yupin Chen, Wentse hsiao. Correction of field distortion of laser marking systems using surface compensation function. Optics and Lasers in Engineering, 2009, 27: 84–89
[19] J.Paulo Davima, Nuno Barricasa, Marta Conceic, et al. Some experimental studies on CO2 laser cutting quality of polymeric materials. journal of materials processing technology. 2008, 198: 99–104
[20] I.A.Choudhury, S.Shirley. Laser cutting of polymeric materials: an experimentalinvestigation. Optics & Laser Technology, 2010, 42: 503–508
[21]谢小柱,李力钧,张屹等.激光切割金属厚板新技术.激光技术, 2005., 29(3): 251~254
[22] K.Abdel Ghany, H.Abdel Rafea, M.Newishy. Using a Nd:YAG laser and six axes robot to cut zinc-coated steel. J Adv Manuf Technol, 2006, 28: 1111~1117
[23] K.Abdel Ghany, H.Abdel Rafea, M.Newishy. Cutting of 1.2mm thick austenitic stainless steel sheet using pulsed and CW Nd:YAG laser. Journal of Materials Processing Technology,2005, 168: 438~447
[24] Richar Mandel. Metal cutting at light speed. Welding Design and Fabrication, 2006, 79(7): 16~20
[25]姚远.激光加工技术在汽车工业中的应用.汽车工艺与材料, 2004, (2): 19~21
[26]陈根余,曹茂林,黄丰杰.三维激光切割的应用和研究.激光与光电子学进展, 2007, 44(3): 38~42
[27] Robert Bogue. Cutting robots: a review of technologies and applications. Industrial Robot, 2008, 35(5): 390–396
[28]阎启.汽车用冷轧钢板的激光切割.机械工程材料, 2002, 26(9): 25~26
[29] Seiji Katayama,Yousuke Kawahito. Laser direct joining of metal and plastic. Scripta Materialia, 2008, 59: 1247~1250
[30] Manuel Sieben, Frank Brunnecker, Laser-hybrid welding, an innovative technology to join automotive body parts , Physics Procedia, 2010, 5(8): 61~68
[31]曾钢,袁少波.拼焊板在汽车工业中的应用.电焊机, 2004, 34(6): 12~15
[32]谭善馄,张亚峰.高强度冷轧钢板在奇瑞轿车上的应用研究.汽车工艺与材料, 2003, (6): 10~14
[33]王春燕.激光拼焊板制轿车整体侧围内板成形关键技术的研究: [博士学位论文].长春:吉林大学, 2008
[34] L.Quintino, A.Costa, R.Miranda. Welding with high power fiber lasers– A preliminary study. Materials and Design, 2007, 28: 1231~1237
[35] Cui Li, Kutusna Muneharua, Simizu Takao, et al. Fiber laser-GMA hybrid welding of commercially pure titanium, Materials and Design, 2009, 30: 109~114
[36] Cheolhee Kim, Junghak Kim, Hyunsik Lim et al. Investigation of laser remote welding using disc laser. journal of materials processing technology. 2008, 201: 521~525
[37] M.F.Zaeh, J.Moesl, J.Musiola, et al. Material processing with remote technologyrevolution or evolution?. Physics Procedia, 2010, 5(8) : 19~33
[38]陈炜,吴毅明,吕盾等.差厚激光拼焊板门内板的成形性能研究.中国机械工程, 2006, 17(11): 1188~1190
[39]刘建华,张群莉,胡伦骥.高硅钢板的YAG激光在线拼接新工艺.激光技术, 2004, 28(1): 16~19
[40]樊丁,中田一博,牛尾诚夫. YAG激光与脉冲MIG复合焊接.焊接学报, 2002, 23(5): 81~84
[41] Weichiat Chen, Paul Ackerson, Pal Molian. CO2 laser welding of galvanized steel sheets using vent holes. Materials and Design, 2009, 30: 245~251
[42] Xiaoshu Jin, Xichen Yang. Off-Line Programming of a robot for laser re-manufacturing. Tsinghua Science and Technology, 2009, 14(6): 186~191
[43]宋立杰,张桂香,赵杰等.激光焊接机器人离线编程分析与实现.制造技术与机床, 2008, (12): 113~116
[44]何广忠.机器人弧焊离线编程系统及其自动编程技术的研究: [博士学位论文].哈尔滨:哈尔滨工业大学工学, 2006
[45]田劲松.机器人弧焊任务级离线编程技术的研究. [博士学位论文].哈尔滨:哈尔滨工业大学工学, 2001
[46]张国顺,张健,张泰石等. PCI总线在数控激光加工系统中的应用.中国工程科学, 2002, (6): 25~28
[47] Jonathan S. Ehrmann. Optics for vector scanning. Beam Dellection and Scanning Technologies of SPIE, 1991. 245~256
[48] Yuhong Huang. Virtual marker head for laser marking system design. Optical Scanning of SPIE, 2005. 45~55
[49] Bo Gu. New laser marking technology using ultra-fast lasers. Photon Processing in Microelectronics and Photonics IV of SPIE, 2005. 132~136
[50] Yiqun Ji. Weimin Shen and jianjun Yu. Large Working area f-theta lens. ICO20: Optical Design and Fabrication of SPIE, 2006. 6034: 60341N1~4
[51] Y.F.Lu. L.P.Li. K.Mendu, J.Shi .Laser applications in integrated circuits and photonics packaging. Photon Processing in Microelectronics and Photonics III of SPIE, 2004. 427~440
[52] Ruediger Hack. State-of-the-art in fiber laser marking.Advances in Fiber Devices. L.N.Durvasula. Editor of SPIE, 2003. 202~208
[53] Sumio Nakahara. Yoshihiro Okino. Masaaki Takita. Shigeyoshi Hisada and Takeyoshi Fujita. Direct laser marking on ROM media for identification. Photon Processing in Microelectronics and Photonics II of SPIE, 2003. 411~416
[54] S.C.Tam. Y.M.Noor. L.E.N.Lim. et al. Marking of leadless chip carriers with a pulsed Nd:YAG laser. Proc. I. Mech. Eng, 1993. 179~192
[55] S.Tezuka, M.Yoshikawa. Study on the marking processing of IC packages by YAG laser. J. Japan Soc. Prec. Eng, 1991, 25(4): 297~298
[56] X.Wen, C.Xie, L.Lin. Research on marking of enameiware with excimer laser . Proc. SPIE. 1996. 316~320
[57] Yasutaka Hanada1, Koji Sugioka1, Iwao Miyamoto. et al. Colour marking of transparent materials by laser-induced plasma-assisted ablation (LIPAA). Journal of Physics, 2007, 59: 687–690
[58] Masaru Kawarazaki, Noriyo Sakurada, Yoshio Ishii et al. Color printing on plastics using a slab. RF excited CO2 laser. Third International Symposium on Laser Precision Microfabrication of SPIE, 2003. 419~423
[59] Hajime Ebisutani, Noriyo Sakurada, Yoshio Ishii et al. Artistic processing on acrylic materials using a segmented pixel drawing method with a slab. RF excited CO2 laser. Proceeding of GCL-HPL, 2000. 18~22
[60] Noriyo Sakurada, Yoshio Ishii, Hajime Ebisutani.et al. Asegmented pixel drawing method using a slab RF excited CO2 laser for artistic sculpture. Proceeding of SPIE, 1999. 349~356
[61] Thomas Kuntze, Udo Klotzbach. Eckhard Beyer. Excimer lasers turning flexible variable marking with micro mirror devices. Photon Processing in Microelectronics and Photonics III of SPIE, 2004. 518~523
[62] B.Dusser, Z.Sagan, A.Foucou, et al. News applications in authentication and traceability using ultrafast laser marking. Laser Applications in Microelectronic and Optoelectronic Manufacturing VII of SPIE, 2009. 72010V1~8
[63]戴书华.曲平面激光打标系统的研究.长春光学精密机械学院学报, 1999, 22(2): 46~49
[64]揭彦秋.激光内雕工业的发展状况.光机电信息, 2007, (2): 30~32
[65]孙永荣,刘建业.基于双CPU的激光打标机控制系统设计.工业控制计算机, 2001, 14(5): 52~54
[66]张李超,钱波,黄树槐.高性能激光打标机软件体系结构.现代机械, 2006, (2):1~2
[67] Mingfei Chen, Yupin Chen, Wentse Hsiao. A scribing laser marking system using DSP controller. Optics and Lasers in Engineering, 2008, 46: 410–418
[68]刘晓东,李又生,胡兵等.复杂区域的快速激光雕刻算法研究.光电子·激光, 1997, 8(5): 387~390
[69]刘晓东,胡兵,何云贵.激光雕刻的数学模型及快速算法研究.计算机辅助设计与图形学学报, 1999, 11(2): 151~153
[70]刘斌,阮锋,黄树槐.分层实体制造技术中激光切割路径的优化.华南理工大学学报(自然科学版), 2001, 29(1): 1~3
[71]陈继民.大功率CO2激光三维智能加工CAM的研究. [博士学位论文]北京:北京工业大学, 2001. 32~109
[72]刘会霞,王霄,蔡兰.钣金件数控激光切割割嘴路径的优化,计算机辅助设计与图形学学报, 2004, 16(5): 660~665
[73]李郝林,陈飒,郭弘其.激光切割最短路径的一种计算方法,工具技术, 2005, 39(2): 25~27
[74]李泳,张宝峰.复杂轮廓激光切割路径优化算法的研究.天津理工大学学报, 2007, 23(3): 76~79
[75]张礼兵,吴婷,袁根福等.基于遗传算法的激光打孔路径优化.机电工程, 2007, 24(6): 77~79
[76]师文庆.振镜扫描式激光点焊技术中扫描路径的优化.应用激光, 2008, 28(4): 332~335
[77] Guk-chan Han, Suck-joo Na, A study on torch path planning in laser cutting processes. part 2 : cutting path optimization using simulated annealing. Journal of Manufacturmg Processes, 1999, 1(1): 62~70
[78] S.Q.Xie, J.Gan. Optimal process planning for compound laser cutting and punch using Genetic Algorithms. Int. J. Mechatronics and Manufacturing Systems, 2009, 2: 20~38
[79] Wang G.G. and Xie S.Q. Optimal process planning for a combined punch and laser cutting machine using ant colony optimisation, International Journal of Production Research, 2005, 43(11): 2195–2216
[80] Cuneyt Oysu, Zafer Bingul. Application of heuristic and hybrid-GAS algorithms to tool-path optimization problem for minimizing airtime during machining.Engineering Applications of Artificial Intelligence. 2009, 22: 389~396
[81] Oduguwa, A.Tiwari, R.Roy. Evolutionary computing in manufacturing industry: an overview of recent applications. Applied Soft Computing. 2005, 5: 281–299
[82]张健.激光动态标刻系统研究: [博士学位论文].天津:天津大学, 2003
[83]陈敏,胡兵,郭飞等.激光飞动标刻软件研究.激光杂志, 2003. 24(3): 64~65.
[84]彭飞等.一维扫描激光飞动标刻研究.激光杂志, 2007, 28(1): 85~86
[85]蔡兵等.基于DSP和CPLD的激光飞动标刻研究.激光技术, 2007, 31(4): 387~390
[86]蒋毅,周宏,蒋明.基于PC的激光标刻系统控制卡设计.计算机测量与控制, 2004, 12(6): 544~546
[87]蒋毅,蒋明.基于PCI的激光标刻控制系统研究,现代电子技术, 2009, (6): 15~18
[88] Ming Jiang, Yi Jiang, Xiao Yan Zeng. Study of Laser Flying Marking System. Optical Engineering, 2007. 46(9): 09430
[89]蔣毅,蔣明.并行D/A转换器件AD5547及其接口设计,世界电子元器件, 2007, (3): 45~47
[90]李成,张国顺,张贵忠等.激光飞行打标校正技术研究.光电子·激光, 2006, 17(11): 1381~1383
[91]赵曰峰,陈兴海,郑义等.振镜式在线激光打标扫描方案的设计.应用激光, 2004, 24 (1): 41~43
[92]汤漾平,段正澄,李鹤九.多用途五轴联动激光加工系统.制造技术与机床, 1997, (11): 12~13
[93]汤漾平,龚时华,段正澄.多用途数控三维激光加工机床的若干关键技术.华中理工大学学报, 1998, 26(8): 16~17
[94]谢耀辉,朱国力,段正澄等.三维激光切割加工中曲面法矢获取算法的研究.华中理工大学学报, 1999, 27(1): 50~52
[95]虞钢,虞和济.集成化激光智能加工工程.北京:冶金工业出版社, 2002. 389~423
[96]颜永振,虞钢,王立新等.集成激光制造系统的开放式控制研究.计算机集成制造系统, 2007, 13(10): 1006~5911
[97]巫德彬,尹显明.基于PC的开放式数控系统.机械工程与自动化, 2006, 12(6): 171~172
[98]李永明,王健.焊接机器人控制系统的研究.仪表技术, 2009, (6): 31~33
[99]张永强,陈武柱,张旭东.基于PC的开放式多功能激光加工数控系统.应用激光, 2004, 24(6): 368~370
[100]傅桂龙,程筱胜.基于PC的开放式数控系统实现方法.机械设计与制造工程, 2002, 29 (1): 45~46
[101]石尚锋,胡俊,罗磊.全软件型激光切割数控系统的研究开发.机械设计与制造, 2008, (3): 154~156
[102]汤漾平,杨丰羽,朱国力等.激光切割加工工艺参数选取的神经网络方法.锻压机械, 1998, (5): 40~41
[103]徐路宁,王霄,张永康.基于CMAC神经网络的激光切割加工工艺参数的选取.电加工与模具, 2002, (2): 44~47
[104]张永强.激光切割质量同轴视觉检测与控制的研究: [博士学位论文].北京:清华大学, 2006
[105]胡伦骥,王春明,骆红等.激光切割的实时监测.激光应用, 1998, 18(4): 164~166
[106] Tomaz Kek, Janez Grum. Monitoring laser cut quality using acoustic emission. International Journal of Machine Tools & Manufacture , 2009, (49): 8–12
[107] Alippi C, Bono V, Piuri V.et al. Toward real-time quality analysis measurement of metal laser cutting. VIMS'02.2002 IEEE International Symposium, 2002, 5: 39~44
[108]张永强,吴艳华.激光束姿态对三维激光切割质量的影响.中国激光, 2006, 33(1): 124~127
[109]陈继民,左铁钏. CO2激光三维方位切割的人工神经网络分析.中国激光, 2004, 31(2): 245~248
[110]陈继民,左铁钏.激光切割中入射角对切割质量的影响.中国激光, 2001, 28 (11): 1037 ~1040
[111] Giovanni Tani, Luca Tomesani. Quality factors assessed by analytical modeling in laser cutting. Thin Solid Films, 2004, 453: 486~491
[112] Shang Liang Chen. The effects of high-pressure assistant-gas flow on high-power CO2 laser cutting . Journal of Materials Processing Technology, 1999, 88: 57~66
[113]王春明,胡伦骥,胡席远等.镀锌版的激光剪裁拼焊工艺及接头性能研究.电焊机, 2004, 34(9): 17~10
[114] Shanjin Lv. Yang Wang. An investigation of pulsed laser cutting of titanium alloysheet.Optics and Lasers in Engineering, 2006, 44: 1067–1077
[115] Hubert Pagès, HervéPiombini, Franck Enguehard, et al. Demonstration of paper cutting using single emitter laser diode and infrared-absorbing ink. Optics Express, 2005, 13 (7): 2351~2357
[116] Bagger C, Olsen F O. Pulsed mode laser cutting of sheets for tailored blanks. Journal of Materials Processing Technology, 2001, 115(1): 131~135
[117] G.Reinhart, U.Munzert, W.Vogl. A programming system for robot-based remote- laser-welding with conventional optics. CIRP Annals - Manufacturing Technology, 2008, 57: 37–40
[118]崔茂源.基于虚拟现实技术与监控理论的机器人示教系统研究: [博士学位论文].长春:吉林大学, 2004
[119] Lothar Bauer. Offline-programming of 3D Laser Systems. 2787 of SPIE, 1996. 34~42
[120] P.Th.Zacharia, N.A.Aspragathos. Optimal robot task scheduling based on genetic algorithms. Robotics and Computer-Integrated Manufacturing, 2005, 21: 67–79
[121] Eberhard Roos,Arno Behrens. Off-line programming of industrial robots-Adaptation of simulated user programs to the real environment. Computers in Industry, 1997, 33: 139~150
[122] Robert Mahr.示教机器人.现代制造, 2004, (28): 36~37
[123]罗桂成,刘壮,高长水.长距离激光焊接离线编程平台开发. CAD/CAM与制造业信息化, 2007, (2): 132~134
[124]刘蓉,刘明.激光打标中TrueType字体的轮廓提取与打标实现.计算机应用与软件, 2005, 22 (7): 72~74
[125]苏少卿. AutoCAD的字型文件(.SHX)的结构和利用.计算机应用研究, 1995, (6): 65~67
[126]杨奎,王锡洁,孙丽媛等.激光雕刻系统中矢量图形输出的研究.仪表技术, 2008, (11): 59~61
[127]李芳珍,许伦辉. DXF文件格式及其外部接口的研究.软件开发与应用, 2008, 27(7) : 83~85
[128]陈元琰,张睿哲,吴东.计算机图形学实用技术(第2版).北京:清华大学出版社, 2007. 166~167
[129]孙家广.计算机图形学. (第3版).北京:清华大学出版社, 1998. 308~318
[130] Samuel R.Buss著,唐龙等译. 3D计算机图形学. (OpenGL版).北京:清华大学出版社, 2006. 211~213
[131]苏丽杰,聂义勇.现实旅行商问题.小型微型计算机系统, 2005, 26(4): 655~657
[132]高海昌,冯博琴,朱利.智能优化算法求解TSP问题.控制与决策, 2006, l21(3): 241~248
[133]魏英姿,赵明扬,黄雪梅等.求解TSP问题的贪心遗传算法.计算机工程, 2004, 30(19): 19~21
[134] Keld Helsgaun. An effective implementation of the Lin–Kernighan traveling salesman heuristic. European Journal of Operational Research, 2000, 126: 106~130
[135] Andreas C. Nearchou. The effect of various operators on the genetic search for large scheduling problems. Int. J. Production Economics, 2004, 88: 91~203
[136] Kenneth Castelino, Roshan D'Souza, and Paul K.Wright. Toolpath optimization for minimizing airtime during machining. Journal of Manufacturing Systems, 2002, 22(3): 173~180
[137] D.Karapetyan, G.Gutin. Lin-kernighan heuristic adaptations for the generalized traveling salesman problem. European Journal of Operational Research, 2010, DOI: 10.1016: 1~26
[138]赵曦,林健良,卢修泉等.求解第二类广义旅行商问题的虚顶点遗传算法.计算机工程与应用, 2006, 15: 78~81
[139]王美华,田绪红,廖鸿翔.求解广义旅行商问题的混合染色体遗传算法.计算机工程与应用, 2009, 45(27): 59~62
[140]李小花,朱征宇,夏梦霜.多车场CARP问题的改进遗传算法求解.计算机工程与应用, 2009, 45(11): 230~234
[141] Ke Tang, Xin Yao. Memetic algorithm with extended neighborhood search for capacitated arc routing problems. IEEE Transactions on Evolution Computation, 2009, 13(5): 1151~1166
[142] Lining Xing, Philipp Rohlfshagen, Yingwu Chen, et al. An evolutionary approach to the multidepot capacitated arc routing problem. IEEE Transactions on Evolutionary Computation, 2010, 14(3): 356~374
[143]田玉波,钱鉴.计算智能与计算电磁学.北京:科学出版社, 2008. 9~34
[144]王辉,钱锋.群体智能优化算法.化工自动化及仪表, 2007, 34(5): 7~13
[145]马良,朱刚,宁爱兵.蚁群优化算法.北京:科学出版社, 2008. 28~47
[146]李晓磊,邵之江,钱积新.一种基于动物自治体的寻优模式:鱼群算法.系统工程理论与实践, 2002, 22(11): 32~38
[147]张军,詹志辉,陈伟能等.计算智能.北京:清华大学出版社, 2009. 131~200
[148]蔡自兴,龚涛.免疫算法研究的进展.控制与决策, 2004, 19(8): 841~846
[149]张晋,李冬黎,李平.遗传算法编码机制的比较研究.中国矿业大学学报, 2002, 31(6): 637~640
[150]赵青.遗传算法三种编码策略的比较研究.微型电脑应用, 2008, 24(5): 47~50
[151]蒋明,蒋毅,曾晓雁.激光飞行标刻运动跟踪技术.中国激光, 2007, 34(2): 199~202
[152]蒋明,蒋毅.激光飞行标刻扫描幅面约束特性及最大飞行速度性能分析.中国激光,2009, 36(4): 993~997
[153] Ming Jiang, Yi Jiang, Xiao Yan Zeng. Scanning path planning for graphic objects in laser flying marking system. Optical Engineering.,2008, 47(10): 094302
[154]熊有伦.机器人技术基础.武汉:华中理工大学出版社, 1996. 15~50
[155] John J.Craig.机器人学导论. (原书第3版).北京:机械工业出版社, 2006. 88~93
[156]彭艳,谢少荣,罗均.多轴激光加工机器人光路几何误差建模方法研究.仪器仪表学报, 2010, 31(9): 2068~2074
[157] Richard P.Paul, Bruce Shimano, Gordon E.Mayer. Kinematic control equations for simple manipulators. IEEE Transactions on SMC, 1981, 11(6): 449~455
[158] C.S.G.Lee, M.Ziegler. A geometric approach in solving the inverse kinematics of PUMA Robots. IEEE Transactions on Aerospace and Electronic Systems,1984, 20(6): 695~706
[159]马铁利.机械CAD几何建模核心技术及其发展趋势.计算机工程, 2003, 29(11): 1~4
[160]苑国强,张渊.采用Open CASCADE的三维建模平台的开发研究.工程图学学报, 2008, (4): 146~149
[161] www.opencascade.org.
[162] Richard S.Wright, Jr. Benjamin Lipchak. OpenGL超级宝典. (第三版).北京:人民邮电出版社, 2005. 100~124