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首页> 外文期刊>Arabian Journal for Science and Engineering. Section A, Sciences >Robotic Manipulator Task Sequencing and Minimum Snap Trajectory Generation
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Robotic Manipulator Task Sequencing and Minimum Snap Trajectory Generation

机译：机器人操纵器任务排序和最小快速轨迹生成

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摘要

This paper presents a proposed technique for simple five-axis on-the-fly laser drilling trajectory optimization and task sequencing in the aerospace industry. Also, a time-optimized trajectory generation technique for this type of laser drilling has been presented. Within the optimization process, by adjusting the velocity and acceleration conditions at the location of holes to attain the maximum time compression while minimizing the fourth time derivative's integral square, the trajectories for individual hole clusters are optimized. Hole elongation, axis velocity, acceleration and jerk constraints have been taken into consideration. Furthermore, the technique of fitting cyclic (i.e. closed curve) cubic splines, the evaluation of kinematic constraints from spline coefficients and the effect of uniform time scaling on a derivative profile in the field of five-axis laser drilling applications have been presented in this paper. All proposed algorithms have been verified by either simulation or experiment on gas turbine combustion chamber panels. Simulation results showed promising improvements as cycle time was reduced by nearly 90% for some experimental parts.
机译：本文介绍了航空航天工业中简单的五轴现行激光钻探轨迹优化和任务排序的提出技术。而且，已经介绍了这种类型的激光钻井的时间优化的轨迹产生技术。在优化过程中，通过调整孔位置处的速度和加速条件来获得最大时间压缩，同时最小化第四阶段衍生的积分方形，优化各个孔集群的轨迹。已经考虑了孔伸长率，轴线速度，加速和混蛋约束。此外，本文已经提出了旋转循环（即闭合曲线）立方样条，评估来自花键系数的运动学约束的评估以及均匀时间缩放对五轴激光钻孔应用领域的衍生曲线上的均匀时间缩放的影响。所有所提出的算法都通过燃气涡轮燃烧室板上的仿真或实验验证。仿真结果表明，随着一些实验部件的循环时间减少了近90％的循环时间的有希望的改善。

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