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| Non-redundant collision avoidance and kinematic optimization of a grinding robot for inner-wall of slight rocket engines |
1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning 110004, China; 2. School of Mecha- nics and Power Engineering, Henan Polytechnic University, Jiaozuo, Henan 454003, China）
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Abstract Traditional robot collision avoidance method applied to free operation space is carried out by adding robot DOF. However, this method isn＇t suitable to limited operation space such as a kind of slight solid-propellant rocket engines inner-wall. Hence, a new robot collision avoidance method with non-redun- dant DOF for limited operation space is presented. Without adding robot DOF, this method can judge collision situation in grinding trajectory by mathematical model, and adjust dynamically the grinding interface of the robot end-effector. So robot bodies＇ poses are transformed to avoid collisions between the different robot bodies or between robot bodies and inner-wall. Moreover, kinematic optimization and simulation are carried out by setting the smoothness of joints＇ velocity variety as optimization objective and discriminant of colli- sion as constraints. The results indicate that the grinding robot can track the grinding trajectory without collision and robot joints＇ velocity varies with time uniformly and smoothly at the same time
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2009, Vol. 30 
