Fig. 1. Establishment of single-curved laser coordinate system

Fig. 2. Laser curved coordinate system for cylindrical surface

Fig. 3. Upper and lower deviations of i bending

Fig. 4. Upper deviations of each bending angle under individual and combined actions

Fig. 5. Simulation of influence factors of single bending angle deviation on one point shape deviation

Fig. 6. Path planning method with bilateral profile deviation

Fig. 7. Determination of upper and lower deviations

Fig. 8. Scanning path planning of half sine surface

Fig. 9. Influence of bending angle error compensation on forming

Fig. 10. Influence of scanning times on bending angle

Fig. 11. Schematic of bending angle measurement

Fig. 12. Real scene of experimental conditions

Fig. 13. Bending angle at each scanning path varies with scanning times

Fig. 14. Profile deviation of half sine surface

Fig. 15. Half sinusoidal surface laser bending forming parts