Global Optimal Trajectory Planning of Mobile Robot Grinding for High-Speed Railway Body

Reasonable machining trajectory planning could increase the robotic maneuverability and productivity, which is a research hotspot in the field of robotic grinding, especially for large complicated components. To overcome the machining area planning challenges, an optimal robotic machining trajectory planning approach is presented by creating the robot joint configuration model. To begin, a global trajectory planning approach based on the strong surface consistency of a high-speed railway body is proposed to ensure the continuity of robot motion and the optimal configuration. The high-speed railway body is then divided into different areas to ensure robotic accessibility. Finally, the simulation experiment is employed to obtain the appropriate robotic machining trajectory and working attitude, which effectively enhance robotic accessibility and vastly increase processing efficiency and surface quality in the actual robotic grinding of high-speed railway body.