摘要
运动规划是煤矸石智能分拣机器人研究过程中必不可少的一环,但是目前仍有一些问题待解决.首先介绍煤矸石分选现状,其次分析煤矸石智能分拣机器人运动规划的关键技术,主要包括如何追踪动态煤矸石、如何规划轨迹以减少冲击和如何针对障碍物进行避障.最后得出今后煤矸石智能分拣机器人运动规划的研究方向,包括基于轨迹优化的分拣策略、拣矸机械臂末端抓取位姿和协作空间下多机械臂拣矸的轨迹规划.
Abstract
Motion planning is an essential part of the research process of intelligent sorting robots for coal gangue,but there are still some problems to be solved.Firstly,the current status of coal gangue sorting was introduced.Secondly,the key technologies for motion planning of intelligent sorting robots for coal gangue were analyzed,including how to track dynamic coal gangue,how to plan trajecto-ries to reduce impact,and how to avoid obstacles.Finally,the research directions for the future motion planning of intelligent sorting robots for coal gangue were identified,including sorting strategies based on trajectory optimization,the end grasping posture of the picking robotic arm,and trajectory planning for multi robotic arm picking in collaborative space.
基金项目
内蒙古自治区直属高校基本科研业务费项目(2024QNJS032)
内蒙古自治区高等学校科学研究项目(NJZY21383)
内蒙古自然科学基金(2022LHMS05007)
NETL
NSTL
万方数据