[1]张芳园,肖牧邦,丁 烨,等.基于高斯混合模型的机器人曲面打磨路径规划[J].机械与电子,2023,41(07):37-41.
　ZHANG Fangyuan,XIAO Mubang,DING Ye,et al.A Path Planning Method for Robotic Polishing of Curved Surfaces Based on Gaussian Mixture Models[J].Machinery & Electronics,2023,41(07):37-41.
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基于高斯混合模型的机器人曲面打磨路径规划()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年07期
页码:
37-41
栏目:
智能工程
出版日期:
2023-07-25

文章信息/Info

Title:
A Path Planning Method for Robotic Polishing of Curved Surfaces Based on Gaussian Mixture Models
文章编号:
1001-2257 ( 2023 ) 07-0037-05
作者:
张芳园; 肖牧邦; 丁 烨; 张 波
上海交通大学机械与动力工程学院,上海 200240
Author(s):
ZHANG Fangyuan ;  XIAO Mubang ;  DING Ye ;  ZHANG Bo
( School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai 200240 , China )
关键词:
机器人打磨; 路径规划; 高斯混合模型; 自由曲面
Keywords:
robotic polishing ;  path planning ;  Gaussian mixture model ;  curved surface
分类号:
TP242.2
文献标志码:
A
摘要:
针对自由曲面上不规则区域的机器人打磨路径规划问题,提出一种基于高斯混合模型( GMM )的自适应路径规划方法。首先借助测地线的数值求解实现多边形网格上的指数映射与对数映射,然后基于黎曼流形上的 GMM 实现曲面上不规则区域的统计建模,并基于平行样式完成对不规则区域的打磨路径规划。所提方法简练描述了曲面上不规则区域的分布情况,并高效实现了局部覆盖路径规划。最后使用工业机器人在 NURBS 曲面工件的实验平台上进行实验,实验结果验证了该算法的可行性和有效性。
Abstract:
Aiming to solve the path planning problem for robotic polishing of randomly distributed regions on curved surfaces , an adaptive path planning method based on the Gaussian mixture model is proposed.Firstly , the approximate exponential map and the logarithmic map on polyhedral surfaces are achieved with the help of numerical computation of geodesics.Then the Gaussian mixture model on Riemannian manifolds is deployed to statistically model the shape of randomly distributed regions on curved surfaces.Besides , coverage path planning among these regions is performed by selecting the path pattern as direction parallel.The GMM can concisely describe the distribution of randomly distributed regions on the surface , and the path planning method can efficiently plan the local coverage path.Finally , robotic polishing experiments on NURBS-designed curved-surface workpieces are completed.The experimental result verifies the feasibility and effectiveness of the method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-11-22
基金项目:国家重点研发计划资助项目( 2018YFB1308900 )
作者简介:张芳园 ( 1998- ),女,山东济宁人,硕士研究生,研究方向为机器人技术;肖牧邦 ( 1995- ),男,湖南长沙人,博士研究生,研究方向为机器人应用技术;丁 烨 ( 1982- ),男,江苏丹阳人,博士,教授,博士研究生导师,研究方向为机器人学与智能加工技术;张 波 ( 1977- ),男,河南驻马店人,博士,副研究员,研究方向为机器人学与运动控制技术。
更新日期/Last Update: 2023-08-31