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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
Conference Name14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Source Publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
Pages705-710
Conference DateAugust 6, 2017 - August 9, 2017
Conference PlaceTakamatsu, Japan
AbstractA 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.
KeywordRobotic Fibre Placement Composites Path Planning Efficiency And Quality
DOI10.1109/ICMA.2017.8015902
Indexed ByEI
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19786
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorBaolin Wu
Affiliation1.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
Recommended Citation
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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