Collisionless motion planning method for curve forming of outer board of ship body based on double mechanical arms

Abstract

The invention provides a collisionless motion planning method for curve forming of an outer board of a ship body based on double mechanical arms to solve the problem of kinematic collision between themechanical arms caused by a precision error of the double mechanical arms and a working reachable space overlapping factor between the double mechanical arms. By solving and analyzing the reachable space of the double mechanical arms, the overlapped part of the moving space of the double mechanical arms is obtained, and the probability of collision of the double mechanical arms in the space is obtained. A mode of the double mechanical arms is simplified, so that the complex degree of collision detection is simplified. A repulsive force field in a conventional artificial potential field is improved and is introduced, as a potential field, into collision prevention adjustment to calculate a planed adjusting amount, and tracks of the double mechanical arms are adjusted by an interpolation method. Finally, a moving model is established by means of a DH parameter of the double mechanical arms, and a moving track capable of colliding is set to the double mechanical arms, so that the mechanical arms executing a processing task does not collide, and therefore, the collisionless motion planning method is of significant meaning to achieve intelligent manufacturing of ships.

Description

technical field [0001] The invention relates to the technical field of forming curved surface of hull outer plate, in particular to a collision-free motion planning method for forming curved surface of hull outer plate based on dual robotic arms. Background technique [0002] The hull is composed of complex and non-developable spatial surfaces, and the steel plates for ships should be processed into the curved surface shape of the outer plates of the hull. At present, most of the methods adopted by shipyards in the world are linear water and fire ship plate curved surface forming process. The principle of this process is to achieve the overall bending deformation of the steel plate by utilizing the thermal elastic-plastic deformation produced after the steel plate is partially cooled at high temperature. The surface forming of the hull plate is a process mode that utilizes the elastic-plastic deformation of the steel plate to complete the processing. Since the operation of ...

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Problems solved by technology

[0005] The present invention proposes a collision-free motion planning method based on dual robotic arms for hull shell surface forming, in order to solve the problems caused by the accuracy error of the dual robotic arms and the overlapping factors of the workable space between the dual robotic arms. The problem of motion collision, in order to achieve the purpose of motion planning that does not occur collision or can effectively avoid collision when the dual robot arm is performing processing tasks, so as to realize the automation of the hull surface forming process

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