A novel path planning algorithm in robotic fibre placement for complex closed surface structures
Min Jiang1,2,3; Wu Baolin1,2,3; Ma Liping1,2,3; Baolin Wu
2017-08-23
会议名称14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
会议录名称2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
页码705-710
会议日期August 6, 2017 - August 9, 2017
会议地点Takamatsu, Japan
摘要A novel path planning algorithm based on efficiency and quality evaluation (EQE) in robotic fibre placement (RFP) for complex profile structures is proposed in this paper. The EQE algorithm focus on the concept for the first time that the paths are generated according to the tradeoff between the laying efficiency and quality under the specific process requirement, which will improve the RFP's adaptability to the complicated process environment. Meanwhile, the core of the proposed EQE algorithm is evaluating two different modified paths based on the laying efficiency and quality according to the process requirement during the path angle modification process. Besides, in the EQE, two new path angle modification methods are proposed to generate the modified paths. Thus, the EQE algorithm outperforms the existing path planning algorithms. Finally, some simulation experiments are conducted for a complex closed surface structure. The results verify the effectiveness of the proposed EQE algorithm and also show that it is compared favorably with the existing path planning algorithms.
关键词Robotic Fibre Placement Composites Path Planning Efficiency And Quality
DOI10.1109/ICMA.2017.8015902
收录类别EI
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/19786
专题精密感知与控制研究中心_精密感知与控制
通讯作者Baolin Wu
作者单位1.Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences
2.School of Computer and Control Engineering, University of Chinese Academy of Sciences
3.TianJin Intelligent Tech. Institute of Casia
推荐引用方式
GB/T 7714
Min Jiang,Wu Baolin,Ma Liping,et al. A novel path planning algorithm in robotic fibre placement for complex closed surface structures[C],2017:705-710.
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