CMOR motion planning and accuracy control for heavy-duty robots

Abstract

Abstract Factors like rising work costs and the imminent transformation and upgrading of manufacturing industries are driving the rapid development of the industrial robotics market. In this study, by analyzing the structure of the transport arm and China Fusion Engineering Test Reactor and performing mathematical modeling, a feasible solution for the robot can be obtained using the dynamic ant colony optimization algorithm and grayscale values. However, for multiple degree of freedom robots, due to a large number of joints, the pure use of joint angle restrictions cannot avoid their own mutual interference. The design of the transport arm robot’s own collision algorithm is shown, which focuses on each linkage as a rod wrapped by a cylinder. The experiment shows that the relationship between the integrated center of mass and the whole machine center of mass can get the action area of the whole machine center of mass of the robot, according to which the relationship between the radius of the catch circle and time of the projection area of the whole machine center of mass of the robot in the horizontal plane can be obtained. The maximum outer circle radius r com = 267.977 mm {r}_{\text{com}}=267.977\hspace{.25em}\text{mm} , according to the stability criterion r ssa > r con {r}_{\text{ssa}}\gt {r}_{\text{con}} , can be obtained, so the stability analysis of the gait switching process can be judged to be correct and effective.