Abstract
In order to promote building intelligence and solve the disadvantages of traditional grouting technology, the trajectory planning of closed-loop grouting robot was designed. The minimumsnap optimization function was used to optimize the A* algorithm to realize the 2D trajectory planning, which could obtain a smooth, continuous route, and planning diagram of time distribution, speed, acceleration, and jerk. Further, the weight function of the improved A* algorithm was adjusted to perform 3D trajectory planning to reduce redundant nodes in the route. A new approaching law adaptive sliding mode control method was used to achieve precise trajectory tracking of the robotic arm and reduce the problem of chattering in sliding mode control. Through the design of closed-loop grouting robot and the research of trajectory planning, the two-dimensional and three-dimensional paths of grouting robot could be optimized. The system could realize automatic grouting operation. It could promote the development of high efficiency and safety in the construction grouting industry.
Highlights
With the rapid development of building intelligence, the introduction of construction robots is the only way for the development of the construction industry
The A* algorithm is optimized by the minimum snap optimization function to obtain the two-dimensional path planning of grouting robot
Step 1: The grouting robot system uses the BIM (Building Information Modeling) modeling information to roughly locate the position of the grouting inlet and outlet
Summary
With the rapid development of building intelligence, the introduction of construction robots is the only way for the development of the construction industry. The traditional grouting technology is mostly constructed by hand-held or low-automation equipment, the grouting efficiency is low and the grouting quality cannot be guaranteed. The development of path planning and trajectory tracking technology is relatively mature, the systematic algorithm design of the grouting robot needs further improvement and adjustment to achieve better process results. The A* algorithm is optimized by the minimum snap optimization function to obtain the two-dimensional path planning of grouting robot. Through further adjustment of the distribution of the improved A* algorithm weight function, the three-dimensional path planning of grouting robot can be obtained. Step 1: The grouting robot system uses the BIM (Building Information Modeling) modeling information to roughly locate the position of the grouting inlet and outlet. Step 2: The grouting robot system uses algorithms for trajectory planning and obstacle avoidance. Step 3: The accurate position of the grouting port can be detected by the high-definition camera, after the robot moves to the working range of the manipulator.
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