Enhancement and evaluation in path accuracy of industrial robot for complex surface grinding

Li, Jiangyang; Lai, Zhonghong; Luo, Guoyue; Wang, Wenxi; Lv, Chong

doi:10.1016/j.rcim.2022.102521

Cited by 20 publications

(5 citation statements)

References 34 publications

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“…SLAM can be solved using various algorithms, including EKF (extended Kalman filter) [125], FastSLAM [126], and GraphSLAM [127], each with its strengths and weaknesses. SLAM can be approached using two main paradigms: filter-based and graph-based.…”

Section: Slam (Simultaneous Localization and Mapping)mentioning

confidence: 99%

Stability Analysis and Navigational Techniques of Wheeled Mobile Robot: A Review

Borkar,

Aljrees,

Pandey

et al. 2023

Processes

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Wheeled mobile robots (WMRs) have been a focus of research for several decades, particularly concerning navigation strategies in static and dynamic environments. This review article carefully examines the extensive academic efforts spanning several decades addressing navigational complexities in the context of WMR route analysis. Several approaches have been explored by various researchers, with a notable emphasis on the inclusion of stability and intelligent capabilities in WMR controllers attracting the attention of the academic community. This study traces historical and contemporary WMR research, including the establishment of kinetic stability and the construction of intelligent WMR controllers. WMRs have gained prominence in various applications, with precise navigation and efficient control forming the basic prerequisites for their effective performance. The review presents a comprehensive overview of stability analysis and navigation techniques tailored for WMRs. Initially, the exposition covers the basic principles of WMR dynamics and kinematics, explaining the different wheel types and their associated constraints. Subsequently, various stability analysis approaches, such as Lyapunov stability analysis and passivation-based control, are discussed in depth in the context of WMRs. Starting an exploration of navigation techniques, the review highlights important aspects including path planning and obstacle avoidance, localization and mapping, and trajectory tracking. These techniques are carefully examined in both indoor and outdoor settings, revealing their benefits and limitations. Finally, the review ends with a comprehensive discussion of the current challenges and possible routes in the field of WMR. The discourse includes the fusion of advanced sensors and state-of-the-art control algorithms, the cultivation of more robust and reliable navigation strategies, and the continued exploration of novel WMR applications. This article also looks at the progress of mobile robotics during the previous three decades. Motion planning and path analysis techniques that work with single and multiple mobile robots have been discussed extensively. One common theme in this research is the use of soft computing methods to give mobile robot controllers cognitive behaviors, such as artificial neural networks (ANNs), fuzzy logic control (FLC), and genetic algorithms (GAs). Nevertheless, there is still a dearth of applications for mobile robot navigation that leverage nature-inspired algorithms, such as firefly and ant colony algorithms. Remarkably, most studies have focused on kinematics analysis, with a small number also addressing dynamics analysis.

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Section: Slam (Simultaneous Localization and Mapping)mentioning

confidence: 99%

Stability Analysis and Navigational Techniques of Wheeled Mobile Robot: A Review

Borkar,

Aljrees,

Pandey

et al. 2023

Processes

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“…The kinetic energy KE used to absorb the dynamic impact and mechanical vibration is found according to Equation (8). To apply real-time adjustment of the air pressure during the robotic grinding process, the gas consumption Q is considered by Equation (9).…”

Section: Compliance Mechanism Designmentioning

confidence: 99%

“…In addition, the machining capabilities of industrial robots can be further enhanced by their adaptability to integrate a range of sensors and external mechanisms. This overcomes their relatively poor accuracy and stiffness, allowing them to achieve better performance in complex machining tasks [4][5][6][7][8][9].In general, complex components can be characterized as free-form, thin-wall surfaces, complicated structures, and high-dimensional machining capability needs such as turbine blades in aerospace [10]. To attain better machining quality for complex components, the grinding process is often indispensable in ensuring accurate contouring and high-quality surface finish.…”

Section: Introductionmentioning

confidence: 99%

Enhancing Robotic-Based Propeller Blade Sharpening Efficiency with a Laser-Vision Sensor and a Force Compliance Mechanism

Cheng

Shah

Yen

et al. 2023

Sensors

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The edge sharpness of a propeller blade plays a vital role in improving energy transmission efficiency and reducing the power required to propel the vehicle. However, producing finely sharpened edges through casting is challenging due to the risk of breakage. Additionally, the blade profile of the wax model can deform during drying, making it difficult to achieve the required edge thickness. To automate the sharpening process, we propose an intelligent system consisting of a six-DoF industrial robot and a laser-vision sensor. The system improves machining accuracy through an iterative grinding compensation strategy that eliminates material residuals based on profile data from the vision sensor. An indigenously designed compliance mechanism is employed to enhance the performance of robotic grinding which is actively controlled by an electronic proportional pressure regulator to adjust the contact force and position between the workpiece and abrasive belt. The system’s reliability and functionality are validated using three different workpiece models of four-blade propellers, achieving accurate and efficient machining within the required thickness tolerances. The proposed system provides a promising solution for finely sharpened propeller blade edges, addressing challenges associated with the earlier robotic-based grinding studies.

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“…In recent years, robotic grinding systems have been widely used for the surface machining of free-type workpieces, such as wheel hubs and turbine blades [1]- [3]. By maintaining the contact point of the tool-workpiece and the tool normal direction (the tool position and posture), accurate surface grinding of the workpiece can be achieved [4]. It has replaced the traditional manual operation, greatly improves the processing efficiency and the working environment of workers.…”

Section: Introductionmentioning

confidence: 99%

Research on Point Cloud Processing and Grinding Trajectory Planning of Steel Helmet Based on 3D Scanner

Meng,

Jiang,

et al. 2024

IEEE Access

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As the continuous expansion of robot grinding objects, the traditional manual teaching and offline programming methods can no longer meet people's requirements for grinding trajectories. With the help of a 3D scanner, model data can be acquired quickly and accurately, which facilitates trajectory planning and effective grinding for workpieces. In this paper, a point cloud hole repair method is proposed based on B-spline surface. It integrates point cloud segmentation, feature point removal, smoothing and hole repair, aiming to solve the hole problem in steel helmet scanning. In addition, to generate a uniform grinding trajectory, a planning method is proposed based on an improved B-spline curve. This method combines curve homogenization with equidistant offset and uses k-nearest neighbor search. Iteratively identify and eliminate unreliable point data to determine the best point of contact. The effectiveness of the two methods is verified by trajectory planning on three types of steel helmets.INDEX TERMS Robotic grinding, point cloud processing, holes repairing, trajectory planning, posture optimization.

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Enhancement and evaluation in path accuracy of industrial robot for complex surface grinding

Cited by 20 publications

References 34 publications

Stability Analysis and Navigational Techniques of Wheeled Mobile Robot: A Review

Stability Analysis and Navigational Techniques of Wheeled Mobile Robot: A Review

Enhancing Robotic-Based Propeller Blade Sharpening Efficiency with a Laser-Vision Sensor and a Force Compliance Mechanism

Research on Point Cloud Processing and Grinding Trajectory Planning of Steel Helmet Based on 3D Scanner

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