Research on Trajectory Planning Problem of Robot in Spherical Cutting

被引：0
作者：
Jun, Min [1 ]
Jiang Wenping [1 ]
Zhao Huailin [1 ]
机构：
[1] Shanghai Inst Technol, Sch Elect & Elect Engn, 100 Haiquan Rd, Shanghai 201418, Peoples R China
来源：
ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS | 2019年
关键词：
spherical surface; Kinematics; cylindrical shape; cutting; Trajectory planning; robot;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
For cylindrical shape cutting of spherical surface vessel a kind of 5-DOF cutting method of cylindrical shape for spherical surface is provided in this paper. Based on the kinematics model of cutting robot the mathematics relations between cutting tool cylindrical shape and spherical surface are built using Euler transformation and the intersection line model of cylindrical and spherical surface is presented. The robotic cutting trajectory is computed according to the position and attitude relation of robot and spherical sphere, and simulations and experiments of cutting trajectory for robot are provided in the end. Experiments results verified the rightness of robot kinematics and cylindrical shape cutting algorithm, and will promote the robot-is application in cutting field.
引用
收藏
页码：364 / 369
页数：6
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