The path and time optimal movement plan for steel ball filling robots

Jinrong Wen; Zuoshi Liu; Jianfeng Xiao

doi:10.1117/12.3007224

25 October 2023 The path and time optimal movement plan for steel ball filling robots

Jinrong Wen, Zuoshi Liu, Jianfeng Xiao

Proceedings Volume 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023); 1280161 (2023) https://doi.org/10.1117/12.3007224
Event: Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 2023, Dalian, China

Abstract

In response to the problem of increasing steel ball efficiency during the semi -self -grinding grinding process, it is proposed to apply the 6R robotic arm to the steel ball filling. In order to improve the work efficiency of the robotic arm, find the optimal path, based on D-H parameters theory, and the robotic arm sports model has been established. Based on the cubic quasi-uniform B-Spline, the end of the robotic arm is planned, and the innovative nature introduces the arc-cosine function in the genetic algorithm, and combines the sine and cosine algorithm to propose a sine cosine genetic algorithm (SCGA). The control point of the B -shaped curve is optimized through this algorithm to obtain the optimized trajectory of the terminal motion of the robotic arm. The experimental results show that the SCGA algorithm has increased 69.2%at the convergence speed, and the mechanical arm motion curve has no mutation continuously. The movement efficiency has increased by 67.1%.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jinrong Wen, Zuoshi Liu, and Jianfeng Xiao "The path and time optimal movement plan for steel ball filling robots", Proc. SPIE 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 1280161 (25 October 2023); https://doi.org/10.1117/12.3007224

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