scholarly journals Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface

2018 ◽  
Vol 220 ◽  
pp. 06003
Author(s):  
Sheng-xi Jiao ◽  
Hao Wang ◽  
Lin-lin Xia ◽  
Shuai Zhang
Keyword(s):  
Trajectory Planning ◽  
Spline Interpolation ◽  
Complex Surface ◽  
Smooth Transition ◽  
Surface Processing ◽  
Impeller Blade ◽  
Cutter Orientation ◽  
Adaptive Adjustment ◽  
Optimal Movement ◽  
Complicated Surface

It is important and difficult for the complicated surface processing in mechanical industry. In this paper, an improved algorithm for trajectory planning is proposed in impeller surface processing by using 6-DOF cutting-robot. Taking a single finished path of the impeller blade as an example, the feedrate of the cutter, bow height error, cutter-orientation and position are planned by the B-spline interpolation algorithm, the best cutting trajectory is obtained. On the basis of trajectory planning, the optimal movement scheme of 6-DOF cutting-robot joints is obtained, the 6-DOF cutting-robot feedrate and trajectory smooth transition is achieved and the joints movement adaptive adjustment is completed. Finally, the angles, the angular velocitys of the joints and their interrelated properties are analyzed. The research works indicate that the robot joint angle curves are continuous and stable, which has met the requirements of smooth movement of the robot, and the results show that the trajectory planning is effective and practical.

scholarly journals On the Application of Impeller in Multi Axis CNC Machine Tools

2021 ◽  
Vol 2066 (1) ◽  
pp. 012113
Author(s):  
Weiwen Ye
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Complex Surface ◽  
Machining Process ◽  
Cnc Machine Tools ◽  
Cnc Machine Tool ◽  
Cnc Machine ◽  
Surface Processing ◽  
The Third ◽  
Machining Characteristics

Abstract Multi axis CNC machine tool has good linkage processing effect. Through the application of integral impeller in CNC machine tools, to improve the adaptability of CNC machine tools to complex surface processing parts, to improve the accuracy of multi axis CNC machine tools. The first part of this paper introduces the integral impeller and its machining characteristics; the second part introduces the basic NC machining process of integral impeller; the third part discusses the application of impeller in multi axis CNC machine tools from the creation of guide track, the simulation of integral impeller, software processing and generation. The purpose is to provide some reference for the processing and production of integral impeller.

Paint thickness simulation for painting robot trajectory planning: a review

2017 ◽  
Vol 44 (5) ◽  
pp. 629-638 ◽  
Author(s):  
Yan Chen ◽  
Wenzhuo Chen ◽  
Bo Li ◽  
Gang Zhang ◽  
Weiming Zhang
Keyword(s):  
Trajectory Planning ◽  
Complex Surface ◽  
Cfd Modeling ◽  
Content Type ◽  
Robot Trajectory ◽  
Model Study ◽  
Painting Robot ◽  
Paint Thickness ◽  
Deposition Simulation ◽  
Robot Trajectory Planning

Purpose The purposes of this paper are to review the progress of and conclude the trend for paint thickness simulation for painting robot trajectory planning. Design/methodology/approach This paper compares the explicit function-based method and computational fluid dynamics (CFD)-based method used for paint thickness simulation. Previous research is considered, and conclusions with the outlook are drawn. Findings The CFD-based paint deposition simulation is the trend for paint thickness simulation for painting robot trajectory planning. However, the calculation of paint thickness resulting from dynamically painting complex surface remains to be researched, which needs to build an appropriate CFD model, study approaches to dynamic painting simulation and investigate the simulation with continuously changing painting parameters. Originality/value This paper illustrates that the CFD-based method is the trend for the paint thickness simulation for painting robot trajectory planning. Current studies have been analyzed, and techniques of CFD modeling have also been summarized, which is vital for future study.

Simulation on Trajectory Planning of 6R Manipulator Based on the Shortest Distance Criterion

2014 ◽  
Vol 602-605 ◽  
pp. 942-945
Author(s):  
Qing Qing Huang ◽  
Guang Feng Chen ◽  
Jiang Hua Li ◽  
Xin Wei
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Spline Interpolation ◽  
Algebraic Method ◽  
End Effector ◽  
Cartesian Space ◽  
Shortest Distance ◽  
Inverse Solutions ◽  
Group Inverses ◽  
Forward And Inverse Kinematics

This paper concerns the trajectory planning and simulation for 6R Manipulator. First, algebraic method was used to deduce the forward and inverse kinematics of 6R manipulator. All inverse solutions were expressed in atan2 to eliminate redundant roots to get the corresponding inverse formula. For the trajectory planning of manipulator in Cartesian space, using the cubic spline interpolation to get the drive function of joint, getting a unique solution from eight group inverses by the shortest distance criterion, and then obtained the actual end-effector trajectory. Using Matlab to verify the proposed trajectory planning method, validated results show that the proposed algorithm is feasible and effective.

scholarly journals Research on Trajectory Planning and Tracking of Hexa-copter

2018 ◽  
Vol 173 ◽  
pp. 02008
Author(s):  
Qiyu Wang ◽  
Huijie Zhang ◽  
Jinrong Han
Keyword(s):  
Trajectory Planning ◽  
Flight Control ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
Variable Structure ◽  
Flight Trajectory ◽  
Attitude Stability

In this paper, the flight control problem of hexa-copter is studied in detail from threedimensional trajectory planning to tracking. Then the cubic spline interpolation method is used to generate the trajectory by using these time marked waypoints. The flight trajectory curve produced by this method is smooth, twice differentiable, and it is easy to control implementation. The flight dynamics model of the UAV has the characteristics of multi-input multi-output, strong coupling, under-actuation, severe nonlinearity and external environmental disturbance. In order to improve the accuracy of flight trajectory and the stability of attitude control, a multi-loop sliding mode variable structure control method is proposed to achieve the hexa-copter flight trajectory tracking. The simulation results show that this method can track the predetermined flight trajectory and keep the attitude stability of the UAV normally.

Quaternion and Five-Segment S-Curve’s Application on Manipulator Motion Planning

2019 ◽  
Author(s):  
Hongbin Liang ◽  
Tuqi Cai ◽  
He Wang
Keyword(s):  
Trajectory Planning ◽  
Sudden Change ◽  
Angular Acceleration ◽  
Smooth Transition ◽  
Interpolation Algorithm ◽  
End Effector ◽  
Cartesian Space ◽  
Orientation Change ◽  
S Curve ◽  
S Application

To improve the arc trajectory precision of puma560 end-effector passing the non-collinear three points and reduce the calculation amount of real-time interpolation, In this paper, the quaternion is used to describe the end attitude of the manipulator, and the five-segment S-curve normalization operator is applied to the spherical interpolation of the quaternion, it make the orientation change smoothly, and the speed does not change suddenly. At the same time, it proposes to apply the five-segment s-curve in the manipulator Cartesian space interpolation algorithm to achieve a smooth transition to velocity and acceleration, avoiding the vibration of the manipulator effectively. In this paper, we use Matlab as a simulation platform to analyze the kinematics of manipulator, and to perform arc trajectory planning in the manipulator Cartesian space, and also perform simulation verification on the orientation trajectory. The simulation results show that the algorithm can guarantee the smooth transition to angular velocity and angular acceleration, avoid sudden change of the orientation of the manipulator, and verify the effect of the trajectory planning visually. It provides an efficient and feasible trajectory planning method.

Gait Planning of Humanoid Robot Based on ZMP and Cubic Spline Interpolation

2013 ◽  
Vol 427-429 ◽  
pp. 1394-1397 ◽  
Author(s):  
Xian Lun Wang ◽  
Ping Li ◽  
Fei Qi Yang
Keyword(s):  
Humanoid Robot ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
Cubic Spline ◽  
Smooth Transition ◽  
Cubic Spline Interpolation ◽  
Gait Planning ◽  
Inverted Pendulum Model ◽  
Point Equation ◽  
The Impact

Teaching programming and manual programming are usually used to realize gait planning of humanoid robot. Many methods are lack of the adjustment of center of gravity and lead to the robot walking instability. The gait planning of humanoid robot is solved based on the Linear Inverted Pendulum Model and Zero Moment Point equation in this paper. Two feet trajectories are also planned to realize the smooth transition and overcome the impact during walking with the cubic spline interpolation method. The validation and feasibility of the method proposed in the paper are proved by the results of simulation and experiments.

scholarly journals Optimal Trajectory Planning of Grinding Robot Based on Improved Whale Optimization Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Ting Wang ◽  
Zhijie Xin ◽  
Hongbin Miao ◽  
Huang Zhang ◽  
Zhenya Chen ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Optimal Trajectory ◽  
Spline Interpolation ◽  
Industrial Robot ◽  
Differential Evolution Algorithm ◽  
Whale Optimization Algorithm ◽  
Human Beings ◽  
Whale Optimization ◽  
Optimal Trajectory Planning

Robot will be used in the grinding industry widely to liberate human beings from harsh environments. In the grinding process, optimal trajectory planning will not only improve the processing quality but also improve the machining efficiency. The aims of this study are to propose a new algorithm and verify its efficiency in achieving the optimal trajectory planning of the grinding robot. An objective function has been defined terms of both time and jerk. Improved whale optimization algorithm (IWOA) is proposed based on whale optimization algorithm (WOA) and differential evolution algorithm (DE). Mutation operation and selection operation of DE are imitated in the part of initialization to process the population initialized by WOA, and then, the search tasks of WOA are performed. Motion with a constant velocity of the end-effector is considered during fine grinding. The continuity of acceleration and velocity will be achieved by minimizing jerk, and at the same time, smooth robot movement can be obtained. Cubic spline interpolation is implemented. A six-axis industrial robot is used for this research. Results show that optimal trajectory planning based on IWOA is more efficient than others. This method presented in this paper may have some indirect significance in robot business.

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