Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud

Wang, Gang; Li, Wenlong; Jiang, Cheng; Zhu, Dahu; Li, Zhongwei; Xu, Wei; Zhao, Huan; Ding, Han

doi:10.1109/tro.2021.3108506

Cited by 57 publications

(12 citation statements)

References 38 publications

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“…The first typical robot machining mode usually employs industrial manipulator with fixed bases to accomplish tasks such as grinding [3], milling [4][5][6], and drilling [7]. From the viewpoint of the robots' fixed base, this mode does not expand the robots' operating space, and mainly uses the dexterity of the 6-degree-of-freedom robot to achieve flexible machining.…”

Section: Industrial Manipulatormentioning

confidence: 99%

Robotic cluster machining: Manufacturing revolution for large and complex components

Tao

Gong

Ding

2022

Sci. China Technol. Sci.

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Large complex components, such as aircraft skins, aerospace hulls, ship and high-speed train shells, are key components for aviation, aerospace, marine and transportation industries. The high-efficiency and high-quality manufacturing of these products is not only a major need for industry, but also a frontier hotspot in the field of intelligent manufacturing.Large complex components are usually characterized by very large size, high length-to-thickness ratio, complex profile, etc., and have extremely high requirements for form accuracy and surface quality. For example, the size of mainstream airliners exceeds 30 m. In order to ensure aerodynamic performance and improve the load-weight ratio, the thickness of aircraft skins is generally less than 2 mm and the length-to-thickness ratio exceeds 2000, and the machining tolerance is required to be within ±0.1 mm. Therefore, the special structural form of large and complex components as well as the strict manufacturing process standards are challenging for both the processing methods as well as the equipment. At present, the manufacturing of large and complex components is mainly based on manual processing supplemented by some large special multi-axis CNC machine tools. However, manual work is inefficient, labor-intensive, and difficult to ensure product quality and consistency; while CNC machine tools are expensive. Limited by the travel of their spindles, it is difficult to achieve the processing of components with full surface coverage.

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Section: Industrial Manipulatormentioning

confidence: 99%

Robotic cluster machining: Manufacturing revolution for large and complex components

Tao

Gong

Ding

2022

Sci. China Technol. Sci.

Self Cite

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“…According to the given starting point and destination, a trajectory is planned that satisfies the task requirements in time and space [ 5 ]. At present, most of the research results of motion trajectory planning theory originate from the fields of aircraft [ 6 ], industrial robots [ 7 ], unmanned aerial vehicles [ 8 ] and autonomous vehicles [ 9 ], while research on trajectory planning in the field of AUVs is still in the initial exploration stage. Trajectory optimization is usually solved in two steps: trajectory optimization model transformation and parameter optimization.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Autonomous Underwater Vehicles Based on Gauss Pseudospectral Method

Gan

Chu

2023

Sensors

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This paper aims to address the obstacle avoidance problem of autonomous underwater vehicles (AUVs) in complex environments by proposing a trajectory planning method based on the Gauss pseudospectral method (GPM). According to the kinematics and dynamics constraints, and the obstacle avoidance requirement in AUV navigation, a multi-constraint trajectory planning model is established. The model takes energy consumption and sailing time as optimization objectives. The optimal control problem is transformed into a nonlinear programming problem by the GPM. The trajectory satisfying the optimization objective can be obtained by solving the problem with a sequential quadratic programming (SQP) algorithm. For the optimization of calculation parameters, the cubic spline interpolation method is proposed to generate initial value. Finally, through comparison with the linear fitting method, the rapidity of the solution of the cubic spline interpolation method is verified. The simulation results show that the cubic spline interpolation method improves the operation performance by 49.35% compared with the linear fitting method, which verifies the effectiveness of the cubic spline interpolation method in solving the optimal control problem.

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“…For example, Javad Jahanpour [24] adopted NURBS curves to plan path and obtained a smooth trajectory. Some scholars [25, 26] used B-splines and obtained smooth velocity, acceleration, and jerk. Tian [27] used polynomial method and can evaluate the trajectory to an optimal one quickly.…”

Section: Introductionmentioning

confidence: 99%

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Jiang,

Huang,

Zhu

et al. 2023

Robotica

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Aerospace represents the development of national science and technology. It is an important foundation for exploring space and an important guarantee for the construction of aerospace power. There are many large workpieces in the aerospace field. The box insulation layer of large workpieces is an important processing problem. A new thick processing equipment is proposed to process the box insulation layer of large workpieces. The thick processing equipment consists of the XYZ shaft long guide rail and five degrees of freedom (5-DOF) RAPA. The mechanical structure of the 5-DOF RAPA is a redundantly actuated parallel mechanism (RAPM). Meanwhile, this paper proposes a new method to design 5-DOF redundantly actuated parallel mechanisms (RAPMs) with large output rotational angles. Based on configuration evolution and Li group, two articulated moving platforms (AMPs) and four kinds of limbs are designed, and a series of 3T2R (T represents translation, R represents rotation) RAPMs and 2T3R RAPMs are synthesized. To verify the designed RAPMs with large angle, an example of RAPMs, 4UPS-{2UPR}-R is analyzed. To ensure that the RAPM has no mechanism vibration impact in movement, this paper represents the RAPM adopts a newly proposed trajectory planning method. The results show that the 4SPU-(2UPR)R mechanism possesses large angles and verifies the efficiency of the new proposed trajectory planning method in simplified trajectories. This work lays the foundation for processing the box insulation layer of large workpieces with straight lines and arcs paths.

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Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud

Cited by 57 publications

References 38 publications

Robotic cluster machining: Manufacturing revolution for large and complex components

Robotic cluster machining: Manufacturing revolution for large and complex components

Trajectory Planning of Autonomous Underwater Vehicles Based on Gauss Pseudospectral Method

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

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