The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface
Joint Authors
Chen, Xindu
Diao, Shipu
Wu, Lei
Yang, Mingjiang
Liu, Junhui
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-14
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
The intelligent manufacturing system (IMS) is widely used in the surface machining of the workpiece.
In the process of ceramic surface grinding, the intelligent machine (manipulator) in IMS is required to automatically plan the collision avoidance trajectory in a complex environment.
This paper presents an optimal trajectory planning method of the use of redundant manipulators in the surface grinding of ceramic billet, which is based on trajectory evaluation.
The collision avoidance trajectory can be optimized, taking into account several parameters in the trajectory, including the length of the collision avoidance path, the weighted sum of the strokes of all joints, and the duration of the collision avoidance trajectory.
Firstly, get the planning task.
Secondly, set the planning parameters and obtain a number of collision avoidance trajectories.
Finally, the evaluation function is used to evaluate the collision avoidance trajectories and get the optimal collision avoidance trajectory.
The performance of the proposed optimal collision avoidance trajectory planning method is validated in different evaluation functions.
American Psychological Association (APA)
Diao, Shipu& Chen, Xindu& Wu, Lei& Yang, Mingjiang& Liu, Junhui. 2017. The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1191841
Modern Language Association (MLA)
Diao, Shipu…[et al.]. The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface. Mathematical Problems in Engineering No. 2017 (2017), pp.1-12.
https://search.emarefa.net/detail/BIM-1191841
American Medical Association (AMA)
Diao, Shipu& Chen, Xindu& Wu, Lei& Yang, Mingjiang& Liu, Junhui. The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1191841
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1191841