文章基本信息

标题：Interpolation optimization for robotic grinding with velocity constraints
本地全文：下载
作者：Shouyan Chen ; Tie Zhang ; Ming Shao 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2017
卷号：9
期号：12
页码：1-16
DOI：10.1177/1687814017708709
语种：English
出版社：Sage Publications Ltd.
摘要：Low rigidity of industrial robot can easily result in deformations during grinding process and finally lead to a deviation between planned path and actual path. In order to reduce impact of the deviation, with an analysis of the relationship among feed velocity, deformation, and trajectory planning, a deformation-based trajectory optimization approach is proposed in this article. The relationship among grinding angle, feed velocity, deformation, and interpolation point planning is first studied and two velocity constraints are proposed. The positions of interpolation points are then adjusted in accordance with the velocity constraints to optimize trajectory. Experiment results indicate that the proposed trajectory optimization approach can significantly reduce the deformation and vibration occurring in robotic grinding process.
关键词：Robotic grinding deformation; velocity constraint; trajectory optimization