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A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding
Joint Authors
Zhang, Tie
Liang, Xiaohong
Yu, Ye
Zhang, Bin
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-11-11
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
The angular variation of the joints may be large, and collision between workpieces and tools may occur in robotic grinding.
Therefore, this paper proposes an optimal robotic grinding path search algorithm based on the recursive method.
The algorithm is optimized by changing the position of the tool coordinate system on the belt wheel; thus, the pose of the robot during grinding is adjusted.
First, the position adjustment formula of the tool coordinate system is proposed, and a coordinate plane is established to describe the grinding path of the robot based on the position adjustment formula.
Second, the ordinate value of this coordinate plane is dispersed to obtain the search field of the optimal robotic grinding path search algorithm.
Third, an optimal robotic grinding path search algorithm is proposed based on the recursive method and single-step search process.
Finally, the algorithm is implemented on the V-REP platform.
Robotic grinding paths for V-shaped workpieces and S-shaped workpieces are generated using this algorithm, and a grinding experiment is performed.
The experimental results show that the robotic grinding paths generated by this algorithm can smoothly complete grinding operations and feature a smaller angular variation of the joint than other methods and no collision.
American Psychological Association (APA)
Zhang, Tie& Liang, Xiaohong& Yu, Ye& Zhang, Bin. 2019. A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-19.
https://search.emarefa.net/detail/BIM-1197584
Modern Language Association (MLA)
Zhang, Tie…[et al.]. A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding. Mathematical Problems in Engineering No. 2019 (2019), pp.1-19.
https://search.emarefa.net/detail/BIM-1197584
American Medical Association (AMA)
Zhang, Tie& Liang, Xiaohong& Yu, Ye& Zhang, Bin. A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-19.
https://search.emarefa.net/detail/BIM-1197584
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197584