机械与电子2024，Vol.42Issue(6)：38-44,49,8.
基于知识和改进PRM算法的钣金折弯机器人路径自动规划与优化
Automatic Path Planning and Optimization of Sheet Metal Bending Robot Based on Knowledge and Improved PRM Algorithm
摘要
Abstract
An initial path node generation method based on empirical knowledge is proposed for the in-ter-task cell motion planning problem during offline programming simulation of sheet metal bending ro-bots.The sampling model is constructed based on the initial path nodes as body centres,and the sampling method of the original PRM algorithm is improved by obtaining model vertices and body centres as sam-pling points.By constructing the sampling model through several iterations,the algorithm path has asymp-totic optimality,achieving automatic planning and optimization of the path of the sheet metal bending ro-bot.Finally,the feasibility and efficiency of the algorithm are verified by the simulation experiment of the sheet metal bending robot.关键词
折弯机器人/路径规划/经验知识/PRM算法Key words
bending robot/path planning/empirical knowledge/PRM algorithm分类
信息技术与安全科学引用本文复制引用
纪广东,游有鹏,王鹏宇,钱爽..基于知识和改进PRM算法的钣金折弯机器人路径自动规划与优化[J].机械与电子,2024,42(6):38-44,49,8.基金项目
国家重点研发计划资助项目(2018YFB1309203) （2018YFB1309203）
