基于知识和改进PRM算法的钣金折弯机器人路径自动规划与优化
Automatic Path Planning and Optimization of Sheet Metal Bending Robot Based on Knowledge and Improved PRM Algorithm
纪广东 1游有鹏 1王鹏宇 1钱爽2
作者信息
- 1. 南京航空航天大学机电学院,江苏南京 210016
- 2. 上海新跃联汇电子科技有限公司,上海 200233
- 折叠
摘要
针对钣金折弯机器人离线编程仿真过程中的任务单元间运动规划问题,提出了 一种基于经验知识的初始路径节点生成方法.基于初始路径节点作为体心来构建采样模型,通过获取模型顶点和体心作为采样点来改进原始PRM算法采样方式.通过多次迭代构建采样模型,使得该算法路径具有了渐进最优性,从而实现了钣金折弯机器人路径自动规划与优化.最后,通过钣金折弯机器人的仿真实验,验证了该算法的可行性与高效性.
Abstract
An initial path node generation method based on empirical knowledge is proposed for the in-ter-task cell motion planning problem during offline programming simulation of sheet metal bending ro-bots.The sampling model is constructed based on the initial path nodes as body centres,and the sampling method of the original PRM algorithm is improved by obtaining model vertices and body centres as sam-pling points.By constructing the sampling model through several iterations,the algorithm path has asymp-totic optimality,achieving automatic planning and optimization of the path of the sheet metal bending ro-bot.Finally,the feasibility and efficiency of the algorithm are verified by the simulation experiment of the sheet metal bending robot.
关键词
折弯机器人/路径规划/经验知识/PRM算法Key words
bending robot/path planning/empirical knowledge/PRM algorithm引用本文复制引用
基金项目
国家重点研发计划(2018YFB1309203)
出版年
2024
国家科技期刊平台
NSTL
万方数据