期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：4
DOI：10.1177/1729881418790716
语种：English
出版社：SAGE Publications
摘要：High-speed press lines are related to the fierce competition in the automobile industry and rely on continuous high-efficiency automated feeding systems. Kinematic simulation systems have facilitated the improvement of production processes by generating real-time kinematic curves to avoid interference in feeding systems. In this article, a new method based on quintic polynomials in MATLAB and ADAMS is introduced to achieve whole-line planning using a kinematic simulation system for path planning. Furthermore, secondary interface is developed to visualize the kinematic curves and animate the generated whole-line trajectories. The kinematic simulation system was found to improve the efficiency of generating predicted trajectories in joint or Cartesian space and achieved reliable whole-line path planning, including collision inspection and singular point detection, by using parametric modeling and analyzing kinematic curves. Finally, the kinematic simulation system was verified using results of a kinematic analysis and example simulation.
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