Collision-free planning algorithm of motion path for the robot belt grinding system

Abstract

Collision may occur during the grinding of a workpiece by a robot sand belt. To solve this problem, a collision-free planning algorithm for the robot motion path is developed based on the collision layer method. Collision-free planning of the robot motion path is studied, and a means to adjust the machining frame on the belt is determined (i.e. moving along the axis of the belt and rotating around the tangent line). The planning curve is rapidly found on the collision layer using neighborhood search and recursive methods, and the amount of collision detection is significantly reduced. The planning curve is transformed into the robot motion path. Simulation and experimentation show that the amount of collision detection required by the proposed algorithm is 3.86% less than that required by a method using a complete collision layer. Moreover, the robot grinds the workpiece without collision. The proposed method is simple, stable, and easy to implement and possesses a good engineering application value.

Industrial robotic machining: a review

“…Their method could be used to obtain a higher accuracy. A searchbased collision-free planning algorithm was developed for grinding welt grinding to deliver a stable robotic grinding [36]. Yan et al [37] proposed a grinding force model consisting of sliding, ploughing and cutting components, especially the effects of cut-in and cut-off of grinding process.…”

A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding

“…e simulation and experimental results demonstrate the feasibility of the algorithm. Referring to the modeling method in the author's previous paper [26], this paper improves the algorithm of robot grinding trajectory calculation in [26], which not only meets the requirements of collision but also achieves the grinding trajectory with small total variation of joint angle, thereby improving the smoothness of the robot movement process, improving the grinding efficiency, and reducing the cost. However, the proposed algorithm still has some limitations.…”

“…en, according to the set bow height error, the curvature estimation method is used to generate cutter points. Due to the limitation of space, this paper simply introduces the method of generating cutter points, which can be referred to the article [26] published by the author before. e cutter point coordinate system is shown in Figure 1, where {T} represents the inherent coordinate system of the workpiece and i is the sequence number of the cutter point.…”

“…e practicability of this algorithm is verified by simulation and grinding experiments. Meanwhile, the author's previously published article [26] failed to consider the problem of excessive joint angle increment in the collision avoidance and planning process, which is unfavorable to robot motion control. us, based on the modeling method of [26], this paper improves the trajectory retrieval algorithm.…”

“…Meanwhile, the author's previously published article [26] failed to consider the problem of excessive joint angle increment in the collision avoidance and planning process, which is unfavorable to robot motion control. us, based on the modeling method of [26], this paper improves the trajectory retrieval algorithm. Not only collision avoidance but also the total change of joint angle in the process of robot motion is considered, so that the algorithm can obtain a robot trajectory with a small total joint change in the situation of ensuring that the motion trajectory does not collide.…”