The invention discloses a
robot layered
polishing trajectory autonomous
planning method for an aircraft
radome component. The method comprises the steps that
radome component surface multi-dimensional data are collected, and layered feature vectors are constructed; performing
hierarchical clustering on the surface defects based on a weighted
similarity criterion to form homogeneous
defect region clusters; a self-adaptive
polishing track is dynamically generated for each defect cluster, and the
polishing amount is predicted in combination with an improved
material removal model; the configuration and motion parameters of the
robot are optimized through a lightweight
solver; and constructing a
hybrid spatio-temporal
topological graph, scheduling global tasks by adopting a
hybrid strategy, and outputting an optimal polishing track sequence of each
coating layer level. According to the method, through a core mechanism of defect intelligent layered clustering, track self-adaptive generation and global collaborative scheduling, the problems of
radar cover complex curved surface
adaptation, random damage precise
processing and multi-layer
coating efficient repairing are systematically solved, and collaborative optimization of repairing precision,
process efficiency and
resource consumption is achieved.