Research on feeding path planning algorithm of bending robot based on improved artificial potential field method
In order to solve the problems of low efficiency and high collision probabilities of traditional bending, the collision between the sheet metal parts and the bending machine cannot be ignored upon establishing a coordinate system. Considering the factors such as pose calculation when moving parts, a...
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| Veröffentlicht in: | Chinese Control Conference S. 1751 - 1756 |
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| Hauptverfasser: | , , , |
| Format: | Tagungsbericht |
| Sprache: | Englisch |
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Technical Committee on Control Theory, Chinese Association of Automation
25.07.2022
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| ISSN: | 1934-1768 |
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| Abstract | In order to solve the problems of low efficiency and high collision probabilities of traditional bending, the collision between the sheet metal parts and the bending machine cannot be ignored upon establishing a coordinate system. Considering the factors such as pose calculation when moving parts, an improved Artificial Potential Field method based on discrete geometric calculation of main and auxiliary points is proposed for the shape characteristics of sheet metal parts. The potential field path controls the motion path of the sheet metal part and finds a collision-free bending robot working path. Finally, the improved method is simulated, and the results show that the algorithm can successfully guarantee no collision between the sheet metal part and the bending mechanism, and ensure that the robotic arm runs smoothly to the target position. |
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| AbstractList | In order to solve the problems of low efficiency and high collision probabilities of traditional bending, the collision between the sheet metal parts and the bending machine cannot be ignored upon establishing a coordinate system. Considering the factors such as pose calculation when moving parts, an improved Artificial Potential Field method based on discrete geometric calculation of main and auxiliary points is proposed for the shape characteristics of sheet metal parts. The potential field path controls the motion path of the sheet metal part and finds a collision-free bending robot working path. Finally, the improved method is simulated, and the results show that the algorithm can successfully guarantee no collision between the sheet metal part and the bending mechanism, and ensure that the robotic arm runs smoothly to the target position. |
| Author | Xu, Shuai Xu, Fengyu Huang, Zhuoran Ding, Dawei |
| Author_xml | – sequence: 1 givenname: Zhuoran surname: Huang fullname: Huang, Zhuoran organization: College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications,Nanjing,210023 – sequence: 2 givenname: Dawei surname: Ding fullname: Ding, Dawei organization: College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications,Nanjing,210023 – sequence: 3 givenname: Shuai surname: Xu fullname: Xu, Shuai organization: College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications,Nanjing,210023 – sequence: 4 givenname: Fengyu surname: Xu fullname: Xu, Fengyu email: xufengyu598@163.com organization: College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications,Nanjing,210023 |
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| Snippet | In order to solve the problems of low efficiency and high collision probabilities of traditional bending, the collision between the sheet metal parts and the... |
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| SubjectTerms | Artificial potential field method Bending Manipulators Metals Path planning Planning Rapidly-exploring random tree algorithm Robot kinematics Shape Sheet metal bending |
| Title | Research on feeding path planning algorithm of bending robot based on improved artificial potential field method |
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