Manifold based map representation for mobile robot using Euclidean data difference dimension reduction

Omranpour, Hesam; Ghidary, Saeed Shiry

doi:10.1016/j.engappai.2015.07.003

Cited by 5 publications

(1 citation statement)

References 27 publications

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“…Therefore, higher requirements are placed on the plasma spray gun in terms of flexibility and stability [5]. Although the traditional plasma surface modification robot can meet these requirements to a certain extent, it can handle some planes and simple curved surfaces, but it is difficult to meet the surface modification treatment requirements for complex shape and uneven material surface [6][7][8][9]. In view of the above problems, the flexibility and stability of the plasma robot can be increased by increasing the redundancy of the plasma robot, but the increase of the redundancy degree also increases the difficulty of controlling the motion trajectory of the plasma robot gun, so the plasma redundancy is the optimization of the robot's end motion trajectory and gun parameters has become a hot issue in plasma technology research [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Trajectory control and parameter optimization of plasma robot gun

2020

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A plasma robot model with redundant freedom is proposed for the shortage of flexibility in the complex working environment of plasma robot. The existence of redundant degrees of freedom leads to the complex motion characteristics of the plasma robot joints. The trajectory of the end of the spray gun is difficult to describe. Therefore, a trajectory optimization algorithm based on fitness function is proposed. In the plasma robot joint space, a parabolic linear fitting is adopted. The error between the actual trajectory and the desired trajectory is taken as fitness function. Genetic algorithm is applied to find the optimal solution for the parameters in trajectory planning. The orthogonal experimental model of the parameters of the plasma spray gun is set up. The optimum working parameters of the spray gun are obtained through the analysis and study of the power, atmospheric pressure and the distance of the gun. Finally, the rationality of the proposed method is proved by simulation and test.

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