Journal of Guangdong University of Technology ›› 2017, Vol. 34 ›› Issue (01): 84-89.doi: 10.12052/gdutxb.150149

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A Research of Motion Trajectory Optimization for LargeCurvature of Ship Hull Plate Processing Line Robot

Liu Si-liang, Cheng Liang-lun   

  1. School of Computer Science and Technology, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2015-12-25 Online:2017-01-09 Published:2017-01-09

Abstract:

For the present stage, facing the long invalid trajectory and low working efficiency of large curvature of hull plate processing automation equipment, a new method of fire paths selection is designed based on greedy algorithm to reduce the invalid track outside the process of the burning plate by optimizing the path of multiple paths to be processed. In this way, it could shorten the processing time of single plate and improve production efficiency. A curve interpolation method is presented based on double NURBS algorithm to realize the optimization of machining trajectory curvature complex hull plate, improving the machining precision. The experiment proves that application of greedy algorithm and double NURBS interpolation algorithm in line heating control system greatly improves the machining accuracy and the operating efficiency of the machine, and has achieved the effect of the optimization of the motion trajectory in the bending plate machining process.

Key words: line heating, greedy algorithm, double NURBS, curve interpolation

CLC Number: 

  • TP23

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