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End path planning algorithm for mortar spraying and plastering construction robot

A construction robot and path planning technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high complexity and unsuitable planning for cement mortar spraying tasks, and achieve high execution accuracy and meet the spraying tasks effect of demand

Active Publication Date: 2019-06-21
成都天富若博特科技有限责任公司
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Problems solved by technology

However, in a complex operating environment, the above method has high complexity and needs to complete the three-dimensional modeling of the working environment, which is not suitable for the planning of cement mortar spraying tasks in the construction environment

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  • End path planning algorithm for mortar spraying and plastering construction robot
  • End path planning algorithm for mortar spraying and plastering construction robot
  • End path planning algorithm for mortar spraying and plastering construction robot

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] A terminal path planning algorithm for a mortar spraying construction robot. For different operation walls and task methods, regardless of the current position of the robotic arm, first generate a task execution trajectory that meets the process requirements; then start from the current position of the robotic arm before the work starts Start and complete the free path planning from the current position to the initial position:

[0032] Task trajectory planning: Determine the task trajectory point where the end of the robot arm moves from the initial position of the task to the end position of the task, calculate the dynamic inverse ungroup for each trajectory point, traverse each inverse solution, and find the path with the highest traversal success rate as the final mission trajectory planning;

[0033] Free trajectory planning: Calculate the joint displaceme...

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Abstract

The invention relates to the technical field of robot motion planning, in particular to an end path planning algorithm for a mortar spraying and plastering construction robot. The end path planning algorithm comprises the following steps of 1) task trajectory planning: determining task trajectory points of a mechanical arm execution end moving from a task initial position to a task ending position, solving a dynamics inverse solution set aiming to each trajectory point, traversing all inverse solutions, and finding a path with the highest traversing success rate as a final task trajectory planning; and 2) free trajectory planning: calculating a joint displacement of a current posture of a mechanical arm, performing calculation by utilizing the task trajectory planning to obtain a joint displacement of an initial posture, and establishing a path planning of the mechanical arm execution end moving from a current position to the task initial position. By adopting the technical scheme, themotion trajectory from an arbitrary current position of the mechanical arm to a task operation path of the mechanical arm can be quickly and accurately planned, the execution precision is high, and the requirements for cement mortar spraying and plastering tasks can be met.

Description

technical field [0001] The invention relates to the technical field of robot motion planning, in particular to a terminal path planning algorithm for a mortar spraying construction robot. Background technique [0002] In common indoor building construction, the original building walls, such as brick walls and concrete walls, need to be sprayed with cement mortar to meet the quality evaluation standards such as wall flatness and verticality of yin and yang angles, which is convenient for subsequent houses. Decoration treatment. The spraying operation of cement mortar is now mainly done by manual operation, which has low construction efficiency and high labor intensity. The traditional construction environment is dusty and the working environment is harsh, causing serious health hazards to construction workers. In addition, due to the difference in professional technical level, it is difficult to guarantee the construction quality by manual operation, and there are serious q...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 杨发友吴侃之
Owner 成都天富若博特科技有限责任公司
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