Complex Trajectory Planning based Motion Control Algorithm for Compliance Composite Rod Scraper Robot

被引：0

作者：

Zhang, Min ^{[1
]}

Xu, Wenxia ^{[1
]}

Yu, Baocheng ^{[1
]}

Cheng, Deng ^{[1
,2
]}

Huang, Jian ^{[3
]}

Fan, Moutang ^{[2
]}

Wu, Jing ^{[1
]}

机构：

[1] Wuhan Inst Technol, Hubei Key Lab Intelligent Robot, Wuhan 430205, Hubei, Peoples R China

[2] Lingyun Sci & Technol Grp Co, Wuhan 430040, Hubei, Peoples R China

[3] Huazhong Univ Sci & Technol, Sch Automat, Wuhan 430074, Hubei, Peoples R China

来源：

2021 6TH IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2021) | 2021年

关键词：

D O I：

10.1109/ICARM52023.2021.9536088

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Composite material is widely used in modern industry due to its high strength, aging resistance, and strong environmental adaptability. Therefore, composite material manufacturers have a growing need to improve the production efficiency of composite materials. Then, a composite rod scraper robot for the production of composite materials and a complex trajectory planning-based motion control algorithm are proposed. Firstly, the mechanism and principle of the composite rod scraper robot are first introduced. According to the scraping model of rectangular composite rod and the process of mandrel rotation, the trajectory of the scraper head is analyzed. Then the trajectory planning method for the rectangular composite rod is presented. Finally, the validity of the proposed algorithm is confirmed by the experiments. The experimental results show that the designed composite rod scraper robot can follow the trajectory of rotating mandrel precisely with complex trajectory planning method.

引用

页码：846 / 851

页数：6

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