沈阳航空航天大学学报2024，Vol.41Issue(3)：53-60,8.DOI:10.3969/j.issn.2095-1248.2024.03.008
基于点云薄切技术的协作机器人喷漆轨迹规划算法
Collaborative robot painting trajectory planning algorithm based on point cloud thin-slicing technology
摘要
Abstract
To address the drawback of traditional painting trajectory planning algorithm requiring ex-tensive searching for nearest point pairs,a initial trajectory point extraction algorithm based on the point cloud thin-slicing technology was proposed.This algorithm determined slice thickness by calcula-ting the density of the point cloud model and designated points on the slice as initial trajectory points,thus improving operational efficiency by avoiding point pair searches.To tackle issues such as insuffi-cient trajectory precision and excessive curvature caused by traditional linear interpolation algorithm,a trajectory fitting algorithm was introduced.This algorithm firstly maped trajectory points in three-di-mensional space to a two-dimensional coordinate system and utilized the isolation forest algorithm to eliminate outlier trajectory points,followed by combining curve fitting methods for trajectory planning.Experimental results demonstrate that the trajectories planned by this algorithm exhibit higher precision and smoothness,while also enhancing the overall efficiency of the algorithm.关键词
协作机器人/喷漆轨迹规划/点云薄切技术/点对搜索/轨迹拟合Key words
collaborative robot/painting trajectory planning/point cloud thin-slicing technology/point pair search/trajectory fitting分类
信息技术与安全科学引用本文复制引用
石祥滨,李泓锦,黄盛..基于点云薄切技术的协作机器人喷漆轨迹规划算法[J].沈阳航空航天大学学报,2024,41(3):53-60,8.基金项目
国家自然科学基金(项目编号:61170185) （项目编号:61170185）
