A geometric algorithm for hybrid localization/inspection/machinability problem

We first propose a hybrid localization/inspection/machinability problem. Next, we formulate the hybrid problem using differential geometric theory and the minimax method. Then, we develop a methodology for treating localization, online inspection and machinability of workpieces simultaneously. Using the geometric properties of the hybrid problem, the hybrid problem is decoupled into a (symmetric) localization/inspection problem and a machinability problem. Then both problems are formulated as constrained optimization problems and are solved by a sequence of linear programming problems. Finally, we present simulation results to demonstrate the efficiency of our method for the hybrid problem