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Method for completing unrepeatable covering task on surface of large object by least lifting times through mobile mechanical arm structure

A technology for moving manipulators and object surfaces, applied in manipulators, program-controlled manipulators, manufacturing tools, etc.

Pending Publication Date: 2021-06-25
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Where the surface area of ​​each part of the surface of the object is covered can make the entire coverage task optimal. Currently, it is still manually specified and cannot be solved automatically.

Method used

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  • Method for completing unrepeatable covering task on surface of large object by least lifting times through mobile mechanical arm structure
  • Method for completing unrepeatable covering task on surface of large object by least lifting times through mobile mechanical arm structure
  • Method for completing unrepeatable covering task on surface of large object by least lifting times through mobile mechanical arm structure

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Embodiment Construction

[0032] The invention discloses a method for regionally decomposing the surface of a large object that can be processed by a mobile mechanical arm structure. According to the feasible poses of each point on the surface of the object when the mobile robot structure is in different positions, the region is divided, and the end effector of the robot arm can ensure continuous coverage of each region, that is, there is no need to release the end effector from the object. surface contact. This method ensures that the surface of the object is decomposed into only the fewest areas, and each area is uniquely designated for the placement of the mobile manipulator structure when it is covered, thus ensuring that the end effector is in the process of completing the task of covering the surface of the object. Only a minimum number of lifts is required.

[0033] The invention discloses a method for completing the non-repeatable covering task on the surface of a large object by using a mobil...

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Abstract

The invention discloses a method for completing an unrepeatable covering task on the surface of a large object by least lifting times through a mobile mechanical arm structure. The covering task is completed by using the mobile mechanical arm structure carrying a non-redundant mechanical arm, and the object to be covered is kept still in the execution process of the covering task; and a movable chassis moves and stays at a limited number of positions, and the known information is kept unchanged in the execution process of the covering task. According to the method, the optimal solution for completing the covering task on the large object through the mobile mechanical arm structure is given, the execution capability of the mechanical arm is considered, a solution can be obtained for the object in any shape and the mobile mechanical arm at any candidate position, and therefore the problem is effectively solved.

Description

technical field [0001] The invention relates to the path planning technology of a manipulator, specifically, when the size of the object to be processed is too large to be processed on the assembly line, or there is no large enough manipulator mechanism for processing, a mobile manipulator structure A method for completing the non-repeatable covering task on the surface of a large object by lifting the least number of times. Background technique [0002] The task of covering the surface of an object is a common task in industrial applications, and is widely used in close-range modeling, painting, polishing, etc. of the object surface. To meet the requirement of processing objects with general shapes in 3D space, the covering task is usually performed by a robotic arm. [0003] On the one hand, the kinematics of robotic arms is a hot topic that has been studied for decades. The essence of the kinematics of the manipulator is to find the mapping from the joint space composed...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 王越杨桐熊蓉
Owner ZHEJIANG UNIV