MATEC Web Conf.
Volume 220, 20182018 The 2nd International Conference on Mechanical, System and Control Engineering (ICMSC 2018)
|Number of page(s)||7|
|Section||Intelligent Robot and Control Technology|
|Published online||29 October 2018|
Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface
1 University of Northeast Electric Power in Jilin, Advanced Sensor Technology Institute, Jilin, China
2 University of Northeast Electric Power in Jilin, Research Institute of robot and image visual detection technology, Jilin, China
It is important and difficult for the complicated surface processing in mechanical industry. In this paper, an improved algorithm for trajectory planning is proposed in impeller surface processing by using 6-DOF cutting-robot. Taking a single finished path of the impeller blade as an example, the feedrate of the cutter, bow height error, cutter-orientation and position are planned by the B-spline interpolation algorithm, the best cutting trajectory is obtained. On the basis of trajectory planning, the optimal movement scheme of 6-DOF cutting-robot joints is obtained, the 6-DOF cutting-robot feedrate and trajectory smooth transition is achieved and the joints movement adaptive adjustment is completed. Finally, the angles, the angular velocitys of the joints and their interrelated properties are analyzed. The research works indicate that the robot joint angle curves are continuous and stable, which has met the requirements of smooth movement of the robot, and the results show that the trajectory planning is effective and practical.
© The Authors, published by EDP Sciences, 2018
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