A Real-time Look-ahead Trajectory Planning Methodology for Multi Small Line Segments Path

When a robot is required to machine a complex curved workpiece with high precision and speed, the tool path is typically dispersed into a series of points and transmitted to the robot. The conventional trajectory planning method requires frequent starts and stops at each dispersed point to complete...

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Bibliographic Details
Published in:Chinese journal of mechanical engineering Vol. 36; no. 1; pp. 59 - 88
Main Authors: Zhang, Sai, Liu, Xinjun, Yan, Bingkai, Bi, Jie, Han, Xiangdong
Format: Journal Article
Language:English
Published: Singapore Springer Nature Singapore 28.04.2023
Springer Nature B.V
Robotphoenix Automation Technology Co.,Ltd.,Jinan 250100,China%Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China%Robotphoenix Automation Technology Co.,Ltd.,Jinan 250100,China
Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China
SpringerOpen
Edition:English ed.
Subjects:
Algorithms
Bezier curve
Bidirectional scanning
Complexity
Curves
Damage
Dispersion
Electrical Machines and Networks
Electronics and Microelectronics
Engineering
Engineering Thermodynamics
G^{2}$$ G 2 continuity
Heat and Mass Transfer
Inserts
Instrumentation
Look-ahead
Machines
Machining
Manufacturing
Mathematical analysis
Mechanical Engineering
Modules
Original Article
Polynomials
Power Electronics
Processes
Real time
Robots
Segments
Smoothing
Theoretical and Applied Mechanics
Trajectory planning
Transition scheme
Workpieces
Transition scheme
Bidirectional scanning
continuity
Look-ahead
Bezier curve
G2 continuity
ISSN:2192-8258, 1000-9345, 2192-8258
Online Access:Get full text
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Summary:When a robot is required to machine a complex curved workpiece with high precision and speed, the tool path is typically dispersed into a series of points and transmitted to the robot. The conventional trajectory planning method requires frequent starts and stops at each dispersed point to complete the task. This method not only reduces precision but also causes damage to the motors and robot. A real-time look-ahead algorithm is proposed in this paper to improve precision and minimize damage. The proposed algorithm includes a path-smoothing algorithm, a trajectory planning method, and a bidirectional scanning module. The path-smoothing method inserts a quintic Bezier curve between small adjacent line segments to achieve G 2 continuity at the junctions. The trajectory planning method utilizes a quartic polynomial and a double-quartic polynomial that can achieve a constant velocity at the velocity limitation. The bidirectional scanning module calculates the velocity at each trajectory planning segment point, simplifying calculation complexity and can be run in real time. The feasibility of the proposed algorithm is verified through simulations and experiments, which can be run in real time. In addition, high machining precision can be achieved by adjusting the relevant parameters.
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ISSN:2192-8258
1000-9345
2192-8258
DOI:10.1186/s10033-023-00881-x