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CLC number: TP242

On-line Access: 2023-05-06

Received: 2022-08-21

Revision Accepted: 2022-12-07

Crosschecked: 2023-05-06

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Citations:  Bibtex RefMan EndNote GB/T7714


Jin Wang


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Frontiers of Information Technology & Electronic Engineering  2023 Vol.24 No.4 P.536-552


A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints

Author(s):  Jin WANG, Shengjie LI, Haiyun ZHANG, Guodong LU, Yichang FENG, Peng WANG, Jituo LI

Affiliation(s):  State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   dwjcom@zju.edu.cn

Key Words:  Path planning, Industrial robots, Distributed signed-distance-field, Attitude constraints, Path simplification

Jin WANG, Shengjie LI, Haiyun ZHANG, Guodong LU, Yichang FENG, Peng WANG, Jituo LI. A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(4): 536-552.

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author="Jin WANG, Shengjie LI, Haiyun ZHANG, Guodong LU, Yichang FENG, Peng WANG, Jituo LI",
journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

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%T A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints
%A Shengjie LI
%A Haiyun ZHANG
%A Guodong LU
%A Yichang FENG
%A Peng WANG
%A Jituo LI
%J Frontiers of Information Technology & Electronic Engineering
%V 24
%N 4
%P 536-552
%@ 2095-9184
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2200353

T1 - A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints
A1 - Jin WANG
A1 - Shengjie LI
A1 - Haiyun ZHANG
A1 - Guodong LU
A1 - Yichang FENG
A1 - Peng WANG
A1 - Jituo LI
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 24
IS - 4
SP - 536
EP - 552
%@ 2095-9184
Y1 - 2023
PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.2200353

In many robot operation scenarios, the end-effector’s attitude constraints of movement are indispensable for the task process, such as robotic welding, spraying, handling, and stacking. Meanwhile, the inverse kinematics, collision detection, and space search are involved in the path planning procedure under attitude constraints, making it difficult to achieve satisfactory efficiency and effectiveness in practice. To address these problems, we propose a distributed variable density path planning method with attitude constraints (DVDP-AC) for industrial robots. First, a position–attitude constraints reconstruction (PACR) approach is proposed in the inverse kinematic solution. Then, the distributed signed-distance-field (DSDF) model with single-step safety sphere (SSS) is designed to improve the efficiency of collision detection. Based on this, the variable density path search method is adopted in the Cartesian space. Furthermore, a novel forward sequential path simplification (FSPS) approach is proposed to adaptively eliminate redundant path points considering path accessibility. Finally, experimental results verify the performance and effectiveness of the proposed DVDP-AC method under end-effector’s attitude constraints, and its characteristics and advantages are demonstrated by comparison with current mainstream path planning methods.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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