The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface. (14th December 2017)

• Record Type: Journal Article
• Authors: Diao, Shipu; Chen, Xindu; Wu, Lei; Yang, Mingjiang; Liu, Junhui
• Other Names: Pellicciari Marcello Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2017(2017)
• Publication Date: 2017-12-14
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2017/7405831
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : The intelligent manufacturing system (IMS) is widely used in the surface machining of the workpiece. In the process of ceramic surface grinding, the intelligent machine (manipulator) in IMS is required to automatically plan the collision avoidance trajectory in a complex environment. This paper presents an optimal trajectory planning method of the use of redundant manipulators in the surface grinding of ceramic billet, which is based on trajectory evaluation. The collision avoidance trajectory can be optimized, taking into account several parameters in the trajectory, including the length of the collision avoidance path, the weighted sum of the strokes of all joints, and the duration of the collision avoidance trajectory. Firstly, get the planning task. Secondly, set the planning parameters and obtain a number of collision avoidance trajectories. Finally, the evaluation function is used to evaluate the collision avoidance trajectories and get the optimal collision avoidance trajectory. The performance of the proposed optimal collision avoidance trajectory planning method is validated in different evaluation functions.