کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5128675 | 1489601 | 2017 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
PRM Based Motion Planning for Sequencing of Remote Laser Processing Tasks
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
The mechanical system used for remote laser processing can contain as much as 9 degrees of freedom (DOF). In this paper, a sample based motion planning algorithm for such remote laser processing equipment is presented. By construction robot configurations through a sampling strategy redundancy is inherently taken into account and the path is ensured to comply with laser processing constraints. A test showed that the algorithm was capable of finding 1277/1280 possible paths in 2000 iterations for a 9 DOF mechanical system. These 1277 paths were represented in matrix form which can be used for sequencing of laser processing tasks.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Procedia Manufacturing - Volume 11, 2017, Pages 300-310
Journal: Procedia Manufacturing - Volume 11, 2017, Pages 300-310
نویسندگان
Sigurd Lazic Villumsen, Morten Kristiansen,