Research On Path Planning And Simulation Of Industrial Robot Operating On Complex Object Surface

With the rising cost of social labor, industrial robots are being used more and more widely. In the production of industrial robots, the processing object is becoming more and more complex. Therefore, it is very important to study the working method of robots on the complex object surface , which is of great significance to enhance the processing technology of industrial robots in China.This paper proposes a path planning and simulation method for industrial robots for complex surface operations.Firstly, the design of the task path of industrial robots is completed quickly by combining human-computer interaction and feature extraction technology, and combining with pose data transformation and attribute operation. Secondly, the fast collision detection of industrial robots is realized by constructing the adaptive level bounding box and manipulator structure and non-contact angle analysis. Thirdly, the genetic algorithm is used to plan the sequence of the surface path, and the collision path is selected by the collision detection model. Finally, the feasibility of the research results are verified by the industrial robot simulation system. This is important for the improvement of industrial robot processing technology. The main contents of this paper are as follows:The technology of rapid construction of task path on complex object surface is studied. Through the surface of the object interaction and inter-point cutting technology,and quickly build a close fit with the surface of the geometric path. For the model boundaries that are difficult to delineate, the feature edges are extracted by geometric and topological relations, and the feature edges are serialized. So that the paper completes the geometric path of the object boundary to build quickly. Through the operation of data transformation, transformation and compensation, the constructed geometric path becomes the robot task path, and the process parameter setting method of the task path is given, and the rapid construction of the robot task path is completed. Finally, the feasibility of the method are verified by simulation experiments.The technology of simulation collision detection on complex object surface is studied. Aiming at the problem of collision detection in industrial robots, this paper avoids the traditional hierarchical bounding box method. By improving the OBB direct intersecting test algorithm,a collision detection algorithm based on AOAAE is explored by simulating the robot task on complex surface to speed up the collision detection. In addition, based on the analysis of the characteristics of the manipulator,the concept of the non-contact angle of the manipulator is proposed by using the extensional range of the boom. The self - intersecting collision detection of the manipulator is analyzed by using the structure and non - contact angle of the manipulator, which improves the real - time performance of the collision detection.The technology of complex path planning on object surface based on genetic algorithm is studied. In this paper, the surface matrix lattice is used as the optimization target point. Through the design of the initial parameters of the target points and the design of the genetic operators, the surface lattice sequence planning is completed. The simplified model of the surface curve is established, and the location of the connection point of the adjacent path is determined by the idea of the greedy method, and the processing sequence between the multiple paths on the irregular surface is given. On the basis of the above methods, the collisionless path filtering operation is further carried out, and a collisionless path filtering method based on genetic algorithm is proposed,and the collision free approximation optimal path is obtained by this method.The development of path planning and simulation system for industrial robot operating on complex object surface. Based on the research contents and methods of this paper, simulation system of industrial robots was developed, which designed the function modules and UI interface of simulation software, and developed tools such as virtual teaching pendant and path planner. In the simulation application example, the robot operating environment is built, the task path is constructed, and the feasibility of the proposed method are verified by using the robot lettering and welding operations.