Online obstacle avoidance path planning and application for arc welding robot

Zhou, Xin; Wang, Xuewu; Xie, Zuhong; Li, Fang; Gu, Xingsheng

doi:10.1016/j.rcim.2022.102413

Cited by 28 publications

(15 citation statements)

References 27 publications

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“…The extreme value z can be obtained from the comparison between the variables x and y, the formulation is written as Therefore, the probability of failure in terms of z can be represented by the equivalent model, formulated as The first part with double integrals represents the probability of failure under the situation where (1) x is bigger than y and extreme value z equals to x and (2) extreme value z ¼ x is bigger than h t . It can be also equaled to the area S 4 , as shown in Figure 1A(b).…”

Section: Author Contributionsmentioning

confidence: 99%

“…Manipulators have been widely used because of their outstanding characters of high efficiency, accuracy, and easy to operation, in which the manipulator is required to work repetitively by hundreds of times. 1,2 However, the error in the process of manufacturing and assembling is unavoidable and can bring about joint clearance and dimensional deviations in linkages, which may finally cause the negative influence (such as the erratic shocks, vibration, and deterioration of motion capability 3,4 ) on the safety and stability during its service life. Evaluating the performance of the manipulator appropriately is the foundation of successful manipulation.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

The motion reliability analysis of a series system with multiple coordinated manipulators

Wang,

Xu,

et al. 2023

International Journal of Advanced Robotic Systems

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Coordinated manipulators can construct a series system, such that all the position error of the end-effector is required to remain within the permissible limit. This article proposed a new method to handle the problem of reliability analysis involving in multiple failure modes. The extreme value of the position error is introduced to construct a surrogate model to replace the original failure event, the moment with fraction order instead of the traditional integer is applied to derive the best-fit distribution of the extreme value based on the maximum entropy principle. The innovations mainly include: (1) the high efficient dimension reduction via the surrogate model constructed with the extreme value and (2) a better probability density function is derived through the fractional moment. A series system consists of three manipulators is used as an example to demonstrate the efficiency and accuracy of the proposed method.

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Section: Author Contributionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The motion reliability analysis of a series system with multiple coordinated manipulators

Wang,

Xu,

et al. 2023

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

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“…They can exhibit impressive interpolating properties with high accuracy even though the degree is low. Because of the outstanding feature, the spline can avoid the problem of Runge's phenomenon, and they are widely used in practical engineering [14].…”

Section: Trajectory Planning In Cartesian Space With Polynomial Inter...mentioning

confidence: 99%

“…In a study of the obtainment of a sequence of positions in Cartesian space, Wang [13] developed an improved ant colony algorithm (ACO) to find a less time-consuming path for ship component manufacturing. Aiming to finish the welding tasks of general stiffened plates at an arbitrary position on the workbench in robot workspace, Zhou [14] presented the improved lazy Probabilistic Roadmap (PRM) algorithm. Using a similar idea, Chen [15] handled the problem of the manipulator potentially being unable to work in a situation where the free space contains narrow passages.…”

Section: Introductionmentioning

confidence: 99%

Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint

Wang

Chi

et al. 2023

Electronics

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Path planning to generate an appropriate time sequence of positions for a complex trajectory is an open challenge in robotics. This paper proposes an optimization method with the integration of an improved ant colony algorithm and a high-order spline interpolation technique. The optimization process can be modelled as the travelling salesman problem. The greatest features of this method include: (1) automatic generation for complex trajectory and a new idea of selecting the nearest start point instead of using the traditional way of human operation; (2) an optimized motion sequence of the manipulator with the shortest length of the free-load path improves efficiency by nearly 65% and (3) trajectories both in Cartesian space and joint space are interpolated with good smoothness to reduce shocks and vibrations. Simulations and experiments are conducted to demonstrate the good properties of this method.

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“…In terms of path planning based on machine learning, Zhou et al (2022) developed an improved lazy probabilistic-roadmap-algorithm-based online collision-free path-planning method for arc welding robots. Zhuang et al (2019) proposed an RRT algorithm with a variable step length for path planning of a dual-arm robot, which improved search efficiency and shortened the time required for path planning.…”

Section: Introductionmentioning

confidence: 99%

Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot

Jiang

Cai

2023

Mech. Sci.

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Abstract. Path planning is a key technique used in the operation of bending robots. In this paper, an obstacle-avoidance path-planning method of a 5 degrees of freedom (5 DOF) bending robot based on improved artificial potential field is proposed. Firstly, a connecting-rod coordinate system of the 5 DOF Cartesian bending robot is established to determine an equation of motion trajectory of the bending robot. Secondly, in view of the problem of the local minimum in the artificial potential field (APF) method and the failure of path planning, an improved APF path-planning method based on a rapidly exploring random tree (RRT) algorithm is proposed, which reduces the length of the path and enhances path smoothness. Finally, through simulation and obstacle-avoidance experiments on the path of a mechanical arm, effective path planning based on the improved APF method is verified. The experimental results show that the proposed path-planning method can plan an optimal path and meet the technical requirements of bending robot operations.

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Online obstacle avoidance path planning and application for arc welding robot

Cited by 28 publications

References 27 publications

The motion reliability analysis of a series system with multiple coordinated manipulators

The motion reliability analysis of a series system with multiple coordinated manipulators

Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint

Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot

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