Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications

被引：23

作者：

Beschi, Manuel ^{[1
]}

Mutti, Stefano ^{[1
]}

Nicola, Giorgio ^{[1
]}

Faroni, Marco ^{[1
]}

Magnoni, Paolo ^{[1
]}

Villagrossi, Enrico ^{[2
]}

Pedrocchi, Nicola ^{[1
]}

机构：

[1] Natl Res Council CNR, Inst Intelligent Ind Technol & Syst Adv Mfg STIIM, Via Corti 12, I-20133 Milan, Italy

[2] Danieli Automat, Instrumentat & Robot Dept, Via Stringher 4, I-33042 Buttrio, Italy

来源：

ELECTRONICS | 2019年 / 8卷 / 12期

关键词：

kino-dynamics motion planning; ant-colony optimization; advanced industrial applications; ANT COLONY OPTIMIZATION; PARAMETERS; REPAIR; STATE;

D O I：

10.3390/electronics8121437

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the kinematic redundancy that is often present in these applications to optimize the execution of trajectory. At the same time, the robot kinematics and dynamics constraints are respected and robot collisions are avoided. To reduce the computational burden, the task workspace is discretized enabling the use of efficient network solver based on Ant Colony theory. The proposed method is validated in robotic milling and additive manufacturing real-world scenarios.

引用

页数：18

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