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Offline motion planning and simulation of two-robot welding coordination
Tie ZHANG, Fan OUYANG
《机械工程前沿(英文)》 2012年 第7卷 第1期 页码 81-92 doi: 10.1007/s11465-012-0309-4
This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.
关键词: complex curve seam two robots coordinated welding motion planning
运动规划的高效配置空间构建与优化 Article
潘佳, Dinesh Manocha
《工程(英文)》 2015年 第1卷 第1期 页码 46-57 doi: 10.15302/J-ENG-2015009
配置空间是算法机器人学领域使用较为广泛的一种基本概念。机器人学、计算机辅助设计与相关领域的诸多应用都可归类为配置空间方面的计算问题。本文将对近期与配置空间相关的两项重大挑战的解决方案成果进行探讨:①如何高效计算高维配置空间的近似表达;②如何在高维配置空间内高效执行几何学接近度与运动规划查询。基于机器学习与几何学近似技术,笔者在此提出几种新型配置空间构建算法。上述算法对多个配置样本进行碰撞查询。得出的碰撞查询结果将用来计算配置空间的近似表达,可快速聚合至准确的配置空间;同时还提出了基于并行图形处理器(GPU)的算法,以便加速配置空间优化与搜索计算的性能情况。笔者特别设计出了基于GPU的并行k最近邻算法与并行碰撞检测算法,并使用这些算法来加快运动规划。
关键词: 配置空间 运动规划 图形处理器(GPU)并行算法
Strategy for robot motion and path planning in robot taping
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 195-203 doi: 10.1007/s11465-016-0390-1
Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
关键词: robot taping path planning robot manipulation 3D scanning
A robot fuzzy motion planning approach in unknown environments
FU Yi-li, JIN Bao, LI Han, WANG Shu-guo
《机械工程前沿(英文)》 2006年 第1卷 第3期 页码 336-340 doi: 10.1007/s11465-006-0033-z
关键词: manipulator repelling influence manipulator configuration three-degree industrial simulation
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 504-527 doi: 10.1007/s11465-020-0626-y
关键词: mobile robot multiple maneuvering mode motion planning tracking control receding horizon control
Motion capability analysis of a quadruped robot as a parallel manipulator
Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 295-307 doi: 10.1007/s11465-014-0317-7
This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.
关键词: quadruped robot actuated joints selection kinematics analysis motion planning parallel manipulator
Kang Yuan,Yanjun Huang,Shuo Yang,Zewei Zhou,Yulei Wang,Dongpu Cao,Hong Chen,
《工程(英文)》 doi: 10.1016/j.eng.2023.03.018
关键词: Autonomous driving Decision-making Motion planning Deep reinforcement learning Model predictive control
刘华军,杨静宇,陆建峰,唐振民,赵春霞,成伟明
《中国工程科学》 2006年 第8卷 第1期 页码 85-94
机器人运动规划是移动机器人导航的核心技术之一。40多年来,运动规划技术发展迅速,涌现出了许多规划算法,但因为环境描述方式差异巨大,技术差别大,实验比较难度较大。在总结机器人发展史上具有典型意义的规划算法的基础上,提出了路径规划算法的评价标准和形式化描述方式,介绍了每种算法的原理或技术,从搜索策略和环境建模的角度将它们分为四大类,分别是基于自由空间几何构造的规划算法、前向图搜索算法、基于随机采样的运动规划算法以及智能化规划算法,并按照提出的标准比较它们的性能。
四旋翼无人机在博弈中的运动规划研究:一种基于仿真的投影策略迭代方法 Regular Papers
Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI
《信息与电子工程前沿(英文)》 2019年 第20卷 第4期 页码 525-537 doi: 10.1631/FITEE.1800571
A novel task-oriented framework for dual-arm robotic assembly task
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 528-545 doi: 10.1007/s11465-021-0638-2
关键词: dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception
A-STC:一种基于拍卖的多机器人协同螺旋生成树覆盖运动规划方法 Research Article
Guan-qiang GAO, Bin XIN
《信息与电子工程前沿(英文)》 2019年 第20卷 第1期 页码 18-31 doi: 10.1631/FITEE.1800551
带状态饱和的四旋翼安全轨迹规划 None
Shu-peng LAI, Meng-lu LAN, Ya-xuan LI, Ben M. CHEN
《信息与电子工程前沿(英文)》 2019年 第20卷 第1期 页码 107-119 doi: 10.1631/FITEE.1800719
关键词: 四旋翼飞行器;无人机;运动规划
Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links
CHEN Xin-bo, YU Zhen
《机械工程前沿(英文)》 2006年 第1卷 第1期 页码 76-79 doi: 10.1007/s11465-005-0007-6
The design of intermittent-motion linkages using traditional methods is usually complicated. In this paper, (1) a new method for realizing intermittent motion, using linkages with a slight difference in length between links, is studied; (2) some new types of intermittent-motion linkages and their software for visual analysis and design are developed; and (3) influences of some design parameters on intermittent-motion characteristics are clarified. Results confirmed that the theory and the software are useful, making the synthesis of intermittent-motion linkages clear and easy.
关键词: synthesis useful intermittent intermittent-motion traditional
Design and modeling of continuum robot based on virtual-center of motion mechanism
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6
关键词: VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven
标题 作者 时间 类型 操作
Strategy for robot motion and path planning in robot taping
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN
期刊论文
A robot fuzzy motion planning approach in unknown environments
FU Yi-li, JIN Bao, LI Han, WANG Shu-guo
期刊论文
Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
期刊论文
Motion capability analysis of a quadruped robot as a parallel manipulator
Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI
期刊论文
Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration
Kang Yuan,Yanjun Huang,Shuo Yang,Zewei Zhou,Yulei Wang,Dongpu Cao,Hong Chen,
期刊论文
四旋翼无人机在博弈中的运动规划研究:一种基于仿真的投影策略迭代方法
Li-dong ZHANG, Ban WANG, Zhi-xiang LIU, You-min ZHANG, Jian-liang AI
期刊论文
Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links
CHEN Xin-bo, YU Zhen
期刊论文