Viewpoint simplification of surface structured light and path optimization of manipulator in 3D measurement
To enhance the efficiency of the robotic arm carrying surface structure light for automatic scanning,the re-search on simplifying viewpoints and optimizing scanning paths was studied.Addressing the issue of redundant scan-ning viewpoints,the scanning process was abstracted as a set cover problem and transformed into a hypergraph model.An improved random local search algorithm based on hypergraphs was then applied to simplify viewpoints while ensuring scanning completeness.Additionally,to tackle the problem of unreasonable viewpoint paths,the multiple robotic arm configurations corresponding to viewpoints were considered to establish a Chebyshev distance-based optimization objective for path modeling,which abstracted as a generalized traveling salesman problem.An improved simulated annealing algorithm with collaborative local search was employed to optimize the scanning path,resulting in the optimal trajectory.The effectiveness of the algorithm in viewpoint simplification and path optimiza-tion was validated through simulation and experimentation.
automatic 3D measurementset covering problempath optimizationgeneralized traveling salesman problem
万方数据
维普
