The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

Abstract

The intelligent manufacturing system (IMS) is widely used in the surface machining of the workpiece. In the process of ceramic surface grinding, the intelligent machine (manipulator) in IMS is required to automatically plan the collision avoidance trajectory in a complex environment. This paper presents an optimal trajectory planning method of the use of redundant manipulators in the surface grinding of ceramic billet, which is based on trajectory evaluation. The collision avoidance trajectory can be optimized, taking into account several parameters in the trajectory, including the length of the collision avoidance path, the weighted sum of the strokes of all joints, and the duration of the collision avoidance trajectory. Firstly, get the planning task. Secondly, set the planning parameters and obtain a number of collision avoidance trajectories. Finally, the evaluation function is used to evaluate the collision avoidance trajectories and get the optimal collision avoidance trajectory. The performance of the proposed optimal collision avoidance trajectory planning method is validated in different evaluation functions.

Task-level time-optimal collision avoidance trajectory planning for grinding manipulators

“…In the search for the best permutation of sub-trajectories, two kinds of solving methods are commonly used, namely precise algorithm and approximate algorithm. The precise algorithm has the branch and bound method, 13 Dijkstra algorithm 14 and so on. Which is characterised by high accuracy of solving, however, with the increase of the scale of the problem, the time complexity of the algorithm will increase exponentially, so it is difficult to solve the large-scale problem and not often used practically.…”