Research on trajectory planning of closed loop grouting robot

In order to promote building intelligence and solve the disadvantages of traditional grouting technology, the trajectory planning of closed-loop grouting robot was designed. The minimumsnap optimization function was used to optimize the A* algorithm to realize the 2D trajectory planning, which could...

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Autores principales:	Runmei Zhang, Rui Ren, Guan Luo, Shuai Li, Lijun Bi, Bin Yuan
Formato:	article
Lenguaje:	EN
Publicado:	SAGE Publishing 2021
Materias:	Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/0a628f15ea60433e9749aa656fd3b5d3
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spelling	oai:doaj.org-article:0a628f15ea60433e9749aa656fd3b5d32021-12-02T03:33:55ZResearch on trajectory planning of closed loop grouting robot1687-814010.1177/16878140211053414https://doaj.org/article/0a628f15ea60433e9749aa656fd3b5d32021-11-01T00:00:00Zhttps://doi.org/10.1177/16878140211053414https://doaj.org/toc/1687-8140In order to promote building intelligence and solve the disadvantages of traditional grouting technology, the trajectory planning of closed-loop grouting robot was designed. The minimumsnap optimization function was used to optimize the A* algorithm to realize the 2D trajectory planning, which could obtain a smooth, continuous route, and planning diagram of time distribution, speed, acceleration, and jerk. Further, the weight function of the improved A* algorithm was adjusted to perform 3D trajectory planning to reduce redundant nodes in the route. A new approaching law adaptive sliding mode control method was used to achieve precise trajectory tracking of the robotic arm and reduce the problem of chattering in sliding mode control. Through the design of closed-loop grouting robot and the research of trajectory planning, the two-dimensional and three-dimensional paths of grouting robot could be optimized. The system could realize automatic grouting operation. It could promote the development of high efficiency and safety in the construction grouting industry.Runmei ZhangRui RenGuan LuoShuai LiLijun BiBin YuanSAGE PublishingarticleMechanical engineering and machineryTJ1-1570ENAdvances in Mechanical Engineering, Vol 13 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Mechanical engineering and machinery TJ1-1570
spellingShingle	Mechanical engineering and machinery TJ1-1570 Runmei Zhang Rui Ren Guan Luo Shuai Li Lijun Bi Bin Yuan Research on trajectory planning of closed loop grouting robot
description	In order to promote building intelligence and solve the disadvantages of traditional grouting technology, the trajectory planning of closed-loop grouting robot was designed. The minimumsnap optimization function was used to optimize the A* algorithm to realize the 2D trajectory planning, which could obtain a smooth, continuous route, and planning diagram of time distribution, speed, acceleration, and jerk. Further, the weight function of the improved A* algorithm was adjusted to perform 3D trajectory planning to reduce redundant nodes in the route. A new approaching law adaptive sliding mode control method was used to achieve precise trajectory tracking of the robotic arm and reduce the problem of chattering in sliding mode control. Through the design of closed-loop grouting robot and the research of trajectory planning, the two-dimensional and three-dimensional paths of grouting robot could be optimized. The system could realize automatic grouting operation. It could promote the development of high efficiency and safety in the construction grouting industry.
format	article
author	Runmei Zhang Rui Ren Guan Luo Shuai Li Lijun Bi Bin Yuan
author_facet	Runmei Zhang Rui Ren Guan Luo Shuai Li Lijun Bi Bin Yuan
author_sort	Runmei Zhang
title	Research on trajectory planning of closed loop grouting robot
title_short	Research on trajectory planning of closed loop grouting robot
title_full	Research on trajectory planning of closed loop grouting robot
title_fullStr	Research on trajectory planning of closed loop grouting robot
title_full_unstemmed	Research on trajectory planning of closed loop grouting robot
title_sort	research on trajectory planning of closed loop grouting robot
publisher	SAGE Publishing
publishDate	2021
url	https://doaj.org/article/0a628f15ea60433e9749aa656fd3b5d3
work_keys_str_mv	AT runmeizhang researchontrajectoryplanningofclosedloopgroutingrobot AT ruiren researchontrajectoryplanningofclosedloopgroutingrobot AT guanluo researchontrajectoryplanningofclosedloopgroutingrobot AT shuaili researchontrajectoryplanningofclosedloopgroutingrobot AT lijunbi researchontrajectoryplanningofclosedloopgroutingrobot AT binyuan researchontrajectoryplanningofclosedloopgroutingrobot
_version_	1718401711850127360

Research on trajectory planning of closed loop grouting robot

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