Improvement of Monte Carlo method for robot workspace solution and volume calculation

Zhen-bang, 徐振邦 Xu; Zhi-yuan, 赵智远 Zhao; Shuai, 贺 帅 He; Jun-pei, 何俊培 He; Qing-wen, 吴清文 Wu

doi:10.3788/ope.20182611.2703

Cited by 14 publications

(4 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The workspace is the collection of spatial points that can be reached by the end-effector during the picking process of the robot, and its shape and size are the key factors that determine the robot’s work performance. Based on the Robotics Toolbox in MATLAB software, the Monte Carlo method was used to solve the approximate solution in motion space ( Xu Z. et al., 2018 ). Through the forward kinematics Equation 4 , the position vector of the end-effector relative to the base was solved, and then multiple end position coordinate points were randomly generated by the Rand function to obtain the workspace as shown in Figure 8 .…”

Section: Kinematic Analysismentioning

confidence: 99%

Design and experimentation of multi-fruit envelope-cutting kiwifruit picking robot

Fu,

Guo,

Chen

et al. 2024

Front. Plant Sci.

View full text Add to dashboard Cite

Currently kiwifruit picking process mainly leverages manual labor, which has low productivity and high labor intensity, meanwhile, the existing kiwifruit picking machinery also has low picking efficiency and easily damages fruits. In this regard, a kiwifruit picking robot suitable for orchard operations was developed in this paper for kiwifruit grown in orchard trellis style. First, based on the analysis of kiwifruit growth pattern and cultivation parameters, the expected design requirements and objectives of a kiwifruit picking robot were proposed, and the expected workflow of the robot in the kiwifruit orchard environment was given, which in turn led to a multi-fruit envelope-cutting kiwifruit picking robot was designed. Then, the D-H method was used to establish the kinematic Equations of the kiwifruit-picking robot, the forward and inverse kinematic calculations were carried out, and the Monte Carlo method was used to analyze the workspace of the robot. By planning the trajectory of the robotic arm and calculating critical nodes in the picking path, the scheme of trajectory planning of the robot was given, and MATLAB software was applied to simulate the motion trajectory as well as to verify the feasibility of the trajectory planning scheme and the picking strategy. Finally, a kiwifruit picking test bed was set up to conduct picking tests in the form of fruit clusters. The results show that the average time to pick each cluster of fruit was 9.7s, the picking success rate was 88.0%, and the picking damage rate was 7.3%. All the indicators met the requirements of the expected design of the kiwifruit-picking robot.

show abstract

Section: Kinematic Analysismentioning

confidence: 99%

Design and experimentation of multi-fruit envelope-cutting kiwifruit picking robot

Fu,

Guo,

Chen

et al. 2024

Front. Plant Sci.

View full text Add to dashboard Cite

show abstract

“…Summarize 42 sets of volume calculation data, as shown in Figure 4 to Figure 7. The order of magnitude of the volume is 7 10 , its unit is 3 mm (also the unit of volume below).…”

Section: Numerical Volume Calculationmentioning

confidence: 99%

“…The size of the workspace needs to be measured using volume indicators [6], which can be used as the optimization target of the arm and has important guiding significance for the design of the arm. To solve the volume of the robot arm's working space, the voxelization algorithm [7], the grid iteration algorithm [8], and the adaptive meshing algorithm [9] are used. These three methods are large in calculation and time-consuming to solve the volume.…”

Section: Introductionmentioning

confidence: 99%

Volume Calculation and Error Analysis of the Working Space of the Manipulator Based on the Principle of Calculus

Wang,

Song,

Zhang

et al. 2024

Advances in Transdisciplinary Engineering

View full text Add to dashboard Cite

The work space is one of the important indicators of the flexibility of the robot arm movement, it can be used to assess institutional performance. Therefore, the volume calculation and error analysis of the workspace are particularly important. To this end, this paper proposes a new algorithm for calculating the workspace volume, taking the holding arm of a self-designed laparoscopic surgical robot as the research object. First, the Monte Carlo method was used to solve the working space of the arm. Then, the volume of the regular workspace of the manipulator with unlimited joint angles is solved by the method in this paper and the geometric method, and the volume calculated by the geometric method is used as the standard value to analyze the error of the workspace volume solved by the method proposed in this paper. Finally, the optimal parameters are obtained through error analysis, and the working space volume of the robot arm that limits the joint angle is solved, which lays a theoretical foundation for subsequent robot arm configuration optimization.

show abstract

“…Boanta and Bris , an [29] combined robot kinematics with feedforward neural networks to estimate the workspace volume of a robot and solve for the Cartesian coordinates of the robot's end-effector in a Cartesian space. Xu et al [30] divided the Monte Carlo algorithm into two stages, namely, subspace generation and subspace expansion, to generate the workspace of a robot. This algorithm addressed the issue of insufficient accuracy in the workspace generated by traditional methods.…”

Section: Introductionmentioning

confidence: 99%

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

Liu,

Zhou,

Qiao

et al. 2024

Actuators

View full text Add to dashboard Cite

There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. To overcome these problems, an advanced dual-arm tunneling robotic system for a coal mine is developed that can achieve the synchronous operation of excavation and the permanent support of laneways to efficiently complete excavation tasks for large-sized cross-section laneways. A dual-arm cutting robot (DACR) has an important influence on the forming quality and excavation efficiency of large-sized cross-section laneways. As a result, the relative kinematics, workspace, and control of dual-arm cutting robots are investigated in this research. First, a relative kinematic model of the DACR is established, and a closed-loop control strategy for the robot is proposed based on the relative kinematics. Second, an associated workspace (AW) for the DACR is presented and generated, which can provide a reference for the cutting trajectory planning of a DACR. Finally, the relative kinematics, closed-loop kinematic controller, and associated workspace generation algorithm are verified through simulation results.

show abstract

Improvement of Monte Carlo method for robot workspace solution and volume calculation

Cited by 14 publications

References 0 publications

Design and experimentation of multi-fruit envelope-cutting kiwifruit picking robot

Design and experimentation of multi-fruit envelope-cutting kiwifruit picking robot

Volume Calculation and Error Analysis of the Working Space of the Manipulator Based on the Principle of Calculus

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

Contact Info

Product

Resources

About