scholarly journals The Path Planning of Synchronous Cooperative Motion Control between Robot and Positioner for Complex Space Curve Processing

Electronics ◽  
2020 ◽  
Vol 9 (11) ◽  
pp. 1917
Author(s):  
Lin Chen ◽  
Ziwei Wang ◽  
Yuliang Mo ◽  
Haihong Pan
Keyword(s):  
Path Planning ◽  
Complex Space ◽  
Algorithm Design ◽  
Space Curve ◽  
Motion Path ◽  
Joint Rotation ◽  
Cooperative Movement ◽  
Cooperative Motion ◽  
Welding Torch ◽  
Coordination System

In this paper, we propose a synchronous cooperative path planning (SCPP) algorithm for the robot and the positioner to process complex space curve workpieces. The specific algorithm design is illustrated by using the intersecting line welding as an example. The robot and positioner are regarded as an 8-degree-of-freedom (DOF) system to plan the whole synchronous cooperative motion path, and the constraint for the Y-axis of the welding torch coordination system is added for solving the intersecting line orientation information. SCPP is used to process the intersecting line. The changes of welding torch orientation and robot joint rotation angles during welding of the intersecting line by using the improved method and compared to the traditional method. The experimental results show that 8-DOF keeps synchronous cooperative in the whole movement. There is no interference happening during the entire cooperative movement and the welding torch’s orientation remains basically unchanged during the welding intersecting line.

scholarly journals Mixed Reality Enhanced User Interactive Path Planning for Omnidirectional Mobile Robot

2020 ◽  
Vol 10 (3) ◽  
pp. 1135 ◽  
Author(s):  
Mulun Wu ◽  
Shi-Lu Dai ◽  
Chenguang Yang
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mixed Reality ◽  
Avoidance Performance ◽  
Motion Path ◽  
The Real ◽  
Virtual Objects ◽  
Omnidirectional Mobile Robot ◽  
Real Environment ◽  
Control Command

This paper proposes a novel control system for the path planning of an omnidirectional mobile robot based on mixed reality. Most research on mobile robots is carried out in a completely real environment or a completely virtual environment. However, a real environment containing virtual objects has important actual applications. The proposed system can control the movement of the mobile robot in the real environment, as well as the interaction between the mobile robot’s motion and virtual objects which can be added to a real environment. First, an interactive interface is presented in the mixed reality device HoloLens. The interface can display the map, path, control command, and other information related to the mobile robot, and it can add virtual objects to the real map to realize a real-time interaction between the mobile robot and the virtual objects. Then, the original path planning algorithm, vector field histogram* (VFH*), is modified in the aspects of the threshold, candidate direction selection, and cost function, to make it more suitable for the scene with virtual objects, reduce the number of calculations required, and improve the security. Experimental results demonstrated that this proposed method can generate the motion path of the mobile robot according to the specific requirements of the operator, and achieve a good obstacle avoidance performance.

Hardware Implementation of a Genetic Algorithm for Motion Path Planning

2016 ◽  
pp. 250-275
Author(s):  
Imbaby I. Mahmoud ◽  
May Salama ◽  
Asmaa Abd El Tawab Abd El Hamid
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Fitness Function ◽  
Random Number Generation ◽  
Motion Path ◽  
Genetic Operators ◽  
Fitness Evaluation ◽  
Evaluation Task ◽  
Evaluation Module ◽  
The Individual

The aim of this chapter is to investigate the hardware (H/W) implementation of Genetic Algorithm (GA) based motion path planning of robot. The potential benefit of using H/W implementation of genetic algorithm is that it allows the use of huge parallelism which is suited to random number generation, crossover, mutation and fitness evaluation. The operation of selection and reproduction are basically problem independent and involve basic string manipulation tasks. The fitness evaluation task, which is problem dependent, however proves a major difficulty in H/W implementation. Another difficulty comes from that designs can only be used for the individual problem their fitness function represents. Therefore, in this work the genetic operators are implemented in H/W, while the fitness evaluation module is implemented in software (S/W). This allows a mixed hardware/software approach to address both generality and acceleration. Moreover, a simple H/W implementation for fitness evaluation of robot motion path planning problem is discussed.

Control of forming process of truss structure based on cold metal transition technology

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Tianqi Wang ◽  
Xu Zhou ◽  
Hongyu Zhang
Keyword(s):  
Path Planning ◽  
Truss Structure ◽  
Force Analysis ◽  
Analysis Model ◽  
Forming Quality ◽  
Content Type ◽  
Welding Torch ◽  
Planning Algorithm ◽  
Cold Metal ◽  
Path Planning Algorithm

Purpose The purpose of this paper is to study the wire and arc additive manufacturing (WAAM) method and path planning algorithm of truss structure parts, to realize the collision-free rapid prototyping of truss structures with complex characteristics. Design/methodology/approach First, a point-by-point stacking strategy is proposed based on the spot-welding mode of cold metal transfer welding technology. A force analysis model of the droplet is established, which can be used to adjust the posture of the welding torch and solve the collapse problem in the WAAM process of the truss structure. The collision detection model is developed to calculate the interference size between the truss structure and the welding torch, which is used to control the offset of the welding torch. Finally, the ant colony algorithm has been used to optimize the moving path of welding torch between truss with considering the algorithm efficiency and collision avoiding and the efficiency of the algorithm is improved by discretizing the three-dimensional workspace. Findings A series of experiments were conducted to prove the validity of the proposed methods. The results show that the wire feeding speed, welding speed are the important parameters for controlling the WAAM process of truss parts. The inclination angle of the welding torch has an important influence on the forming quality of the truss. Originality/value The force analysis model of truss structure in the WAAM process is established to ensure the forming quality and a collision-free path planning algorithm is proposed to improve forming efficiency.

Study on Mechanical Mechanics with a Method for Minimum-Time Path Planning of Robots in Cartesian Space

2013 ◽  
Vol 703 ◽  
pp. 181-185 ◽  
Author(s):  
Xiang Rong Xu ◽  
Dong Qing Shi ◽  
Man Lu ◽  
Hao Xu ◽  
Tao Zhou
Keyword(s):  
Path Planning ◽  
Minimum Time ◽  
Motion Path ◽  
Robot Motion ◽  
Time Interval ◽  
Cartesian Coordinates ◽  
Motion Trajectories ◽  
Time Path ◽  
Cartesian Space

This paper presents an approach for robot motion path planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0, is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recursive form. The problem of minimum-time path planning and the determination of m are also studied.

Hidden Attractor in a Passive Motion Model of Compass-Gait Robot

2018 ◽  
Vol 28 (14) ◽  
pp. 1850171 ◽  
Author(s):  
Mahdi Nourian Zavareh ◽  
Fahimeh Nazarimehr ◽  
Karthikeyan Rajagopal ◽  
Sajad Jafari
Keyword(s):  
Path Planning ◽  
Basin Of Attraction ◽  
Biped Robot ◽  
Motion Path ◽  
Motion Model ◽  
Hidden Attractor ◽  
Biped Robots ◽  
Sloping Surface ◽  
Dynamical Properties ◽  
Basin Of Attractions

Many studies have been done on different aspects of biped robots such as motion, path planning, control and stability. Dynamical properties of biped robot on a sloping surface such as equilibria and their stabilities, bifurcations and basin of attraction are investigated in this paper. Basin of attraction is an important property since it can determine the unseen conditions which affect the attractor of the system with multistabilities. By the help of basin of attractions, the paper claims that the strange attractors of compass-gait robot are hidden.

scholarly journals A Path Planning Method Based on Robot Automatic Grinding of Drills

2021 ◽  
Vol 2133 (1) ◽  
pp. 012024
Author(s):  
Weidong Hao ◽  
Chaoquan Tan ◽  
Yulu Sun ◽  
Chuan Zheng ◽  
Jingsen Jin
Keyword(s):  
Path Planning ◽  
Point Cloud ◽  
Industrial Robots ◽  
Planning Method ◽  
Motion Path ◽  
Point Cloud Data ◽  
End Effector ◽  
Cloud Data ◽  
Pdc Bit ◽  
Actual Operation

Abstract This paper proposes a path planning method for grinding excess material after PDC bit repair using industrial robots. Firstly, a 3D scanning instrument is used to obtain point cloud data of the bit to be ground, secondly, this data are imported into Geomagic Studio for processing to obtain the triangular sheet file of the area to be ground. Finally, the software based on MATLAB is used to process the file and calculate the motion path of the robot end-effector. The generated path is imported into ROS for simulation. By comparing the generated path with the grinding area, it was verified that the generated path could be used in actual operation.

scholarly journals An Adaptive Parallel Arithmetic Optimization Algorithm for Robot Path Planning

2021 ◽  
Vol 2021 ◽  
pp. 1-22
Author(s):  
Ruo-Bin Wang ◽  
Wei-Feng Wang ◽  
Lin Xu ◽  
Jeng-Shyang Pan ◽  
Shu-Chuan Chu
Keyword(s):  
Path Planning ◽  
Optimization Algorithm ◽  
Optimal Solution ◽  
Communication Strategy ◽  
Motion Path ◽  
Robot Path Planning ◽  
Parallel Arithmetic ◽  
Local Optimal Solution ◽  
Solution Accuracy ◽  
Robot Path

Path planning is one of the hotspots in the research of automotive engineering. Aiming at the issue of robot path planning with the goal of finding a collision-free optimal motion path in an environment with barriers, this study proposes an adaptive parallel arithmetic optimization algorithm (APAOA) with a novel parallel communication strategy. Comparisons with other popular algorithms on 18 benchmark functions are committed. Experimental results show that the proposed algorithm performs better in terms of solution accuracy and convergence speed, and the proposed strategy can prevent the algorithm from falling into a local optimal solution. Finally, we apply APAOA to solve the problem of robot path planning.

Motion Path Planning of Sorting Robot Based on Extended RRT-Connect Algorithm

2021 ◽  
Author(s):  
Jian Fang ◽  
Kuang Yin ◽  
Hongbin Wang ◽  
Wenxiong Mo ◽  
Tie Zhang ◽  
...  
Keyword(s):  
Path Planning ◽  
Motion Path

Exploration of Evolutionary Path Planning of Part Handling in Sheet Metal Bending

2003 ◽  
Author(s):  
Xiaoyun Liao ◽  
G. Gary Wang
Keyword(s):  
Path Planning ◽  
Sheet Metal ◽  
Motion Path ◽  
Sheet Metal Part ◽  
Metal Part ◽  
Sheet Metal Parts ◽  
Detection Algorithms ◽  
Shaped Part ◽  
Bending Sequence

While the bending sequence planning has been intensively studied, design of the motion path of a sheet metal part in the bending operation tends to be ignored by researchers. Because during the bending operation, the space for maneuvering a sheet metal part is very small, collisions between the part and bending tools are likely to occur. When a robot is used to handle the part, the role of an automatic path-planning tool becomes more significant. In this study, an evolutionary pathplanning approach for robot-assisted handling of sheet metal parts in bending is proposed and implemented. The proposed approach globally searches the motion path space to identify feasible paths. Collision detection algorithms based on segment intersection are used to check the feasibility of the generated paths. This method can automatically design feasible handling operations for a robot. A simulation example on a simple “V” shaped part demonstrates that the approach is efficient and practical.

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