High Efficiency Grinding Platform Combining Multi-Level Collision Detection and IKFAST Kinematics
Aiming at the pain points of low precision and low efficiency existing in traditional grinding system,an efficient grind-ing trajectory planning algorithm combining multi-level collision detection and IKFAST kinematics was proposed and success-fully applied to robot grinding platform.Firstly,in view of the complexity and difficulty of the high-dimensional configuration space of the grinding robot,the motion planning algorithm based on sampling was adopted in this paper to effectively solve the motion planning problem in the high-dimensional space through random sampling and collision detection.Secondly,the colli-sion detection model is established based on the hybrid bounding box AABB and OBB,and the multi-level traversal detection method is adopted to improve the overall efficiency of the planning algorithm.Finally,in order to deal with the influence of the singularity points in the grinding trajectory of the robot,the kinematics model of IKFAST was established in this paper,and a correct inverse solution to the singular position of the robot was obtained via inverse solution simulation verification,thus improv-ing the stability of the final grinding trajectory.
Robot Grinding PlatformCollision DetectionBounding Box ModelIKFAST Motion Model
NETL
NSTL
万方数据
维普
