Abstract
The angular variation of the joints may be large, and collision between workpieces and tools may occur in robotic grinding. Therefore, this paper proposes an optimal robotic grinding path search algorithm based on the recursive method. The algorithm is optimized by changing the position of the tool coordinate system on the belt wheel; thus, the pose of the robot during grinding is adjusted. First, the position adjustment formula of the tool coordinate system is proposed, and a coordinate plane is established to describe the grinding path of the robot based on the position adjustment formula. Second, the ordinate value of this coordinate plane is dispersed to obtain the search field of the optimal robotic grinding path search algorithm. Third, an optimal robotic grinding path search algorithm is proposed based on the recursive method and single-step search process. Finally, the algorithm is implemented on the V-REP platform. Robotic grinding paths for V-shaped workpieces and S-shaped workpieces are generated using this algorithm, and a grinding experiment is performed. The experimental results show that the robotic grinding paths generated by this algorithm can smoothly complete grinding operations and feature a smaller angular variation of the joint than other methods and no collision.
Highlights
Industrial robots are widely used for curved belt grinding
The optimal robotic grinding path search algorithm is proposed based on the recursive method and single-step search process
Optimal Robotic Grinding Path Search Algorithm Based on Recursive Method. e optimal robotic grinding path search algorithm is proposed based on the single-step search t w/2 + D
Summary
Industrial robots are widely used for curved belt grinding. Generally, the robotic grinding path is generated by offline programming. Considering the collision problem of grinding the surface of complex parts, many scholars have studied the collision-free path planning of robots and proposed many classical algorithms, such as the C-space method [7, 8] and artificial potential field method [9,10,11,12]. Scholars such as Kuffner and Lavalle proposed the RRT. This paper validates this conclusion by using V-shaped parts experiments
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