Abstract

In the process of climbing and sanding for our wall climbing robot, it is of great practical value and significance to find the optimal kinematic precept plan. Therefore, in this paper we base on the ant colony algorithm and set the minimum moving time of the sanding robot as the optimization goal. Apart from it, we also set the reducing of the no-load walking of the robot, the necessary sanding surface quality and the working safety of the robot as the constraint conditions. As a consequence of it, we finally solve the problem of path planning for the wall climbing and sanding robots effectively with consideration of the efficiency and automatic.

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