A hemming path planning method and a hemming system are provided. The hemming path planning method includes the following steps. An initial contour data of a target is scanned to obtain. A first segment of the hemming path is planned according to the initial contour data. The first segment corresponds to a first bending angle. A second segment of the hemming path is planned according to the initial contour data and an expected springback amount related to the first bending angle. The second segment corresponds to a second bending angle. The first segment and the second segment are combined to obtain a continuous hemming path.

An incremental sheet forming system and method are configured to form a structure through an incremental sheet forming process. The incremental sheet forming system and method include a forming control unit that compensates for spring back of a structure to be formed through the incremental sheet forming process.

The invention relates to a bending machine (100) configured to bend a metallic workpiece (200), having a controller (130) configured to control a bending operation, wherein the controller (130) has at least one interface (340) configured to obtain information about a time-dependent springback of the workpiece (200) to be bent and to obtain a time indication of a subsequent further machining of the workpiece (200) to be bent, wherein the controller (130) is configured to calculate an adapted bending angle (α) based on the springback and the time indication, and wherein the bending machine (100) is configured to bend the bending operation beyond a bending angle (β) to be bent up to the adapted bending angle (α). Due to the adapted bending angle, the workpiece (300) has the correct bending angle (β) to be bent at the time of subsequent further machining.

A deformation processing support system acquires target shape data of a work having a reference line; acquires intermediate shape data from the work in an intermediate shape having a reference line marked thereon; and overlaps the two data on each other by aligning the reference lines relative to each other, to calculate a necessary deformation amount of the work based on a difference between the two data overlapped on each other. To align the reference lines with each other, first and second alignment axes with the same length calculated for the respective reference lines are superimposed on each other. Subsequently, the intermediate shape data is relatively rotated with respect to the target shape data around the first alignment axis.

A deformation processing support system acquires target shape data of a work having a reference line; acquires intermediate shape data from the work in an intermediate shape having a reference line marked thereon; and overlaps the two data on each other by aligning the reference lines relative to each other, to calculate a necessary deformation amount of the work based on a difference between the two data overlapped on each other. To align the reference lines with each other, first and second alignment axes with the same length calculated for the respective reference lines are superimposed on each other. Subsequently, the intermediate shape data is relatively rotated with respect to the target shape data around the first alignment axis.

The invention relates to a bending machine (100) configured to bend a metallic workpiece (200), having a controller (130) configured to control a bending operation, wherein the controller (130) has at least one interface (340) configured to obtain information about a time-dependent springback of the workpiece (200) to be bent and to obtain a time indication of a subsequent further machining of the workpiece (200) to be bent, wherein the controller (130) is configured to calculate an adapted bending angle (α) based on the springback and the time indication, and wherein the bending machine (100) is configured to bend the bending operation beyond a bending angle (β) to be bent up to the adapted bending angle (α). Due to the adapted bending angle, the workpiece (300) has the correct bending angle (β) to be bent at the time of subsequent further machining.

Systems and methods of determining a difference of position between a malleable object and a target shape are described herein.

The present disclosure provides a navigation method and system which does not require a remotely located tracking system, or additional targets or other devices to be installed on the patient or object being tracked. The system uses one flexible component in physical contact with the patient/object and measures relative position as a function of forces that are generated by the flexing component as it is bent. The system translates forces into navigational commands for a robot, other manipulator, or for human manual navigation. A method for transforming a pre-planned motion pathway into a sequence of forces for this mode of navigation is also described. This system is also applicable in the field of manufacturing robotics, where the locations of objects or assemblies may not be precisely known or constant. The method and system disclosed herein can be used to maintain known position of an object/assembly or to navigate movement of a robot relative to an object/assembly as in the case of machining.

The present disclosure relates to a method for determining the bending angle on a bending machine, wherein the bending machine includes an upper tool and a lower tool for reshaping a workpiece by bending along a bending line. One or more measuring arrangements are positioned on the bending machine, which together include at least one illumination device and in each case at least one image acquisition device. Each measuring arrangement is assigned a different surface portion of the workpiece which lies laterally adjacent to the bending line and extends along the bending line. A light pattern is imaged on the workpiece by means of the at least one illumination device of a respective measuring arrangement onto the assigned surface portion. The light pattern contains a plurality of zones which are arranged side by side along the bending line.

A hemming path planning method and a hemming system are provided. The hemming path planning method includes the following steps. An initial contour data of a target is scanned to obtain. A first segment of the hemming path is planned according to the initial contour data. The first segment corresponds to a first bending angle. A second segment of the hemming path is planned according to the initial contour data and an expected springback amount related to the first bending angle. The second segment corresponds to a second bending angle. The first segment and the second segment are combined to obtain a continuous hemming path.