[1]纪广东,游有鹏,王鹏宇,等.基于知识和改进 PRM 算法的钣金折弯机器人路径自动规划与优化[J].机械与电子,2024,42(06):38-44.
　JI Guangdong,YOU Youpeng,WANG Pengyu,et al.Automatic Path Planning and Optimization of Sheet Metal Bending Robot Based on Knowledge and Improved PRM Algorithm[J].Machinery & Electronics,2024,42(06):38-44.
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基于知识和改进 PRM 算法的钣金折弯机器人路径自动规划与优化()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
42
期数:
2024年06期
页码:
38-44
栏目:
智能制造
出版日期:
2024-06-28

文章信息/Info

Title:
Automatic Path Planning and Optimization of Sheet Metal Bending Robot Based on Knowledge and Improved PRM Algorithm
文章编号:
1001-2257 ( 2024 ) 06-0038-07
作者:
纪广东 1 ; 游有鹏 1 ; 王鹏宇 1 ; 钱 爽 2
1. 南京航空航天大学机电学院,江苏 南京 210016 ;?
2. 上海新跃联汇电子科技有限公司,上海 200233
Author(s):
JI Guangdong1 ;  YOU Youpeng1 ;  WANG Pengyu1 ;  QIAN Shuang2
( 1.College of Mechanical Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 210016 , China ;
2.Shanghai Xinyuelianhui Electronic Technology Co. , Ltd. , Shanghai 200233 , China )
关键词:
折弯机器人; 路径规划; 经验知识; PRM 算法
Keywords:
bending robot ;  path planning ;  empirical knowledge ;  PRM algorithm
分类号:
TP242 ; TP391.1
文献标志码:
A
摘要:
针对钣金折弯机器人离线编程仿真过程中的任务单元间运动规划问题,提出了一种基于经验知识的初始路径节点生成方法。基于初始路径节点作为体心来构建采样模型,通过获取模型顶点和体心作为采样点来改进原始 PRM 算法采样方式。通过多次迭代构建采样模型,使得该算法路径具有了渐进最优性,从而实现了钣金折弯机器人路径自动规划与优化。最后,通过钣金折弯机器人的仿真实验,验证了该算法的可行性与高效性。
Abstract:
An initial path node generation method based on empirical knowledge is proposed for the inter-task cell motion planning problem during offline programming simulation of sheet metal bending robots.The sampling model is constructed based on the initial path nodes as body centres , and the sampling method of the original PRM algorithm is improved by obtaining model vertices and body centres as sampling points.By constructing the sampling model through several iterations , the algorithm path has asymptotic optimality , achieving automatic planning and optimization of the path of the sheet metal bending robot.Finally , the feasibility and efficiency of the algorithm are verified by the simulation experiment of the sheet metal bending robot.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-10-21
基金项目:国家重点研发计划资助项目( 2018YFB1309203 )
作者简介:纪广东 ( 1998- ),男,河南周口人,硕士研究生,研究方向为机器人折弯离线编程仿真;游有鹏 ( 1960- ),男,江苏南京人,教授,博士研究生导师,研究方向为机电控制及自动化,通信作者。
更新日期/Last Update: 2024-07-02