Abstract
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.
Originalsprog | Engelsk |
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Tidsskrift | Procedia Manufacturing |
Vol/bind | 11 |
Sider (fra-til) | 300-310 |
Antal sider | 11 |
ISSN | 2351-9789 |
DOI | |
Status | Udgivet - 2017 |
Begivenhed | 16th Nordic Laser Materials Processing Conference, NOLAMP16 - Aalborg University, Aalborg, Danmark Varighed: 22 aug. 2017 → 24 aug. 2017 http://www.nolamp16.aau.dk/ |
Konference
Konference | 16th Nordic Laser Materials Processing Conference, NOLAMP16 |
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Lokation | Aalborg University |
Land/Område | Danmark |
By | Aalborg |
Periode | 22/08/2017 → 24/08/2017 |
Internetadresse |
Emneord
- Remote laser cutting
- Remote laser welding
- Production planning
- Scheduling
- Redundancy
- Robotics
- Motion planning
- Path planning