scholarly journals Research on the Trajectory Planning of Demolition Robot Attachment Changing

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4502
Author(s):  
Qian Deng ◽  
Shuliang Zou ◽  
Hongbin Chen ◽  
Weixiong Duan
Keyword(s):  
Trajectory Planning ◽  
Nuclear Facilities ◽  
Safety Requirements ◽  
Distance Error ◽  
Complex Operation ◽  
Planning Algorithm ◽  
Promising Application ◽  
Docking Accuracy ◽  
Application Prospects

The process of changing the attachment of a demolition robot is a complex operation and requires a high docking accuracy, so it is hard for operators to control this process remotely through the camera’s perspective. To solve this problem, this paper studies trajectory planning for changing a demolition robot attachment. This paper establishes a link parameter model of the demolition robot; the position and attitude of the attachment are obtained through a camera, the optimal docking point is calculated to minimize the distance error during angle alignment for attachment change, the inverse kinemics of the demolition robot are solved, the trajectory planning algorithm and visualization program are programmed, and then the trajectory planning for the demolition robot attachment changing method is proposed. The results of calculations and experiments show that the method in this paper can meet the accuracy, efficiency, and safety requirements of demolition robot attachment changing, and it has promising application prospects in the decommissioning and dismantling of nuclear facilities and other radioactive environments.

scholarly journals Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110027
Author(s):  
Jianqiang Wang ◽  
Yanmin Zhang ◽  
Xintong Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Robot Control ◽  
Machining Process ◽  
Planning System ◽  
Positioning Accuracy ◽  
Multi Objective ◽  
Planning Algorithm ◽  
Function Testing ◽  
Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

Trajectory planning for coordinately operating robots

1990 ◽  
Vol 4 (3) ◽  
pp. 165-177 ◽  
Author(s):  
Y. P. Chien ◽  
Qing Xue
Keyword(s):  
Trajectory Planning ◽  
Three Dimensional ◽  
Initial Position ◽  
Minimum Time ◽  
Future Research ◽  
Rigid Object ◽  
Redundant Robots ◽  
Planning Algorithm ◽  
The Common ◽  
Joint Velocity

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

The Metal doping Strategy in All Inorganic Lead Halide Perovskites: Synthesis, Physicochemical Properties, and Optoelectronic Applications

Nanoscale ◽  
2021 ◽  
Author(s):  
Yue Gao ◽  
Cheng Yan ◽  
Xiaodong Peng ◽  
Wen Li ◽  
Jingjing Cao ◽  
...  
Keyword(s):  
Physicochemical Properties ◽  
Optical Materials ◽  
Metal Doping ◽  
Inorganic Lead ◽  
Promising Application ◽  
Halide Perovskites ◽  
Optoelectronic Applications ◽  
Lead Halide ◽  
Application Prospects ◽  
Open Issues

All inorganic perovskites CsPbX3 (X=Cl, Br, I), a rising star of optical materials, have shown promising application prospects in optoelectronic and photovoltaic fields. However, some open issues still exist in...

Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator

2013 ◽  
Author(s):  
Evangelos Emmanouil ◽  
Ketao Zhang ◽  
Jian S. Dai
Keyword(s):  
Phase Change ◽  
Trajectory Planning ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
Redundant Actuation ◽  
Planning Algorithm ◽  
Source Phase

Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variable-axis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration.

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