scholarly journals An on-line path planning of assembly robots based on FOVS

2021 ◽  
Author(s):  
Mingzhou Liu ◽  
Xin Xu ◽  
Xiaoqiao Wang ◽  
Maogen Ge ◽  
Lin Ling ◽  
...  
Keyword(s):  
Path Planning ◽  
Ant Colony Algorithm ◽  
Location Estimation ◽  
Assembly Process ◽  
Mechanical Assembly ◽  
Final Assembly ◽  
On Line ◽  
Line Path ◽  
Acs Algorithm ◽  
Initial Assembly

Abstract To improve the accuracy and efficiency of path planning for the mechanical assembly process of products, an on-line path planning method for mechanical assembly process robots based on visual field space is proposed in this paper. Firstly, to predict and describe the assembly process, the concept of field-of-view space (FOVS) is proposed. Secondly, image processing is carried out by knowledge base to judge the assembly type and current assembly state, and the initial assembly path is given. Then, the assembly process is integrated and solved, and the location estimation of obstacles are given according to the FOVS. Finally, the ant colony algorithm is improved to get the final assembly optimization path. Comparing the algorithm with the ACS algorithm in the aspect of path planning. The length of path planning is reduced by 2%, and the algorithm time is reduced by 0.5s, the accuracy and efficiency have been effectively improved. the result shows that the algorithm is effective.

Combined Trajectory Planning and Parameter Identification of a Two-Link Rigid Manipulator

1998 ◽  
Author(s):  
Reza Fotouhi-C. ◽  
Peter N. Nikiforuk ◽  
Walerian Szyszkowski
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Equations Of Motion ◽  
Adaptive Controller ◽  
Time Variable ◽  
Physical Parameters ◽  
Planning Problem ◽  
Unknown Parameters ◽  
On Line ◽  
Line Path

Abstract A combined trajectory planning problem and adaptive control problem for a two-link rigid manipulator is presented in this paper. The problem is divided into two parts: path planning for off-line processing, followed by on-line path tracking using an adaptive controller. The path planning is done at the joint level. The motion of the robot is specified by a sequence of knots (positions of the robot’s tip) in space Cartesian coordinates. These knots are then transformed into two sets of joint displacements, and piecewise cubic polynomials are used to fit these two sequences of joint displacements. The cubic spline function is used to construct a trajectory with the velocity and the acceleration as constraints. Linear scaling of the time variable is used to accommodate the velocity and acceleration constraints. A nonlinear scaling of the time variable is performed to fit the velocity to a pre-specified velocity profile. The adaptive scheme used takes full advantage of the known parameters of the manipulator while estimating the unknown parameters. In deriving the dynamic equations of motion, all of the physical parameters of the manipulator, including the distributed masses of the links, are taken into account. Some simulation results for the manipulator with unknown payload masses following a planned trajectory are presented.

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