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2023, Volume 24, Issue 4

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Frontiers of Information Technology & Electronic Engineering >> 2023, Volume 24, Issue 4 doi: 10.1631/FITEE.2200353

A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints

Affiliation(s): State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; School of Robotics, Ningbo University of Technology, Ningbo 315211, China; less

Received: 2022-08-21 Accepted: 2023-05-06 Available online: 2023-05-06
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Abstract

In many robot operation scenarios, the end-effector’s of movement are indispensable for the task process, such as robotic welding, spraying, handling, and stacking. Meanwhile, the inverse kinematics, collision detection, and space search are involved in the procedure under , making it difficult to achieve satisfactory efficiency and effectiveness in practice. To address these problems, we propose a distributed variable density method with (DVDP-AC) for . First, a position– reconstruction (PACR) approach is proposed in the inverse kinematic solution. Then, the (DSDF) model with single-step safety sphere (SSS) is designed to improve the efficiency of collision detection. Based on this, the variable density path search method is adopted in the Cartesian space. Furthermore, a novel forward sequential (FSPS) approach is proposed to adaptively eliminate redundant path points considering path accessibility. Finally, experimental results verify the performance and effectiveness of the proposed DVDP-AC method under end-effector’s , and its characteristics and advantages are demonstrated by comparison with current mainstream methods.

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