A path planning method for a 6-DOF measuring robot

Yan Wang; Wensong Jiang; Zai Luo; Li Yang

doi:10.1117/12.3032457

13 September 2024 A path planning method for a 6-DOF measuring robot

Yan Wang, Wensong Jiang, Zai Luo, Li Yang

Proceedings Volume 13178, Eleventh International Symposium on Precision Mechanical Measurements; 131780O (2024) https://doi.org/10.1117/12.3032457
Event: Eleventh International Symposium on Precision Mechanical Measurements, 2023, Guangzhou, China

Abstract

To overcome the problem of collision with measured objects with multiple obstacles, a modified path planning method is proposed for a Measuring Robot (MR) based on rapid exploration of random trees. First, the kinematic model of the 6- DOF measuring robot is built by MDH modeling method to clear the measurement space. Second, as the measured object, a valve body is modeled to identify its characteristics and location. Third, the path is planned by optimizing the threshold, smoothness parameters of the traditional RRT model to improve the planning efficiency. Both the path length and planning time are evaluated to verify the advantages of the modified path planning method.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yan Wang, Wensong Jiang, Zai Luo, and Li Yang "A path planning method for a 6-DOF measuring robot", Proc. SPIE 13178, Eleventh International Symposium on Precision Mechanical Measurements, 131780O (13 September 2024); https://doi.org/10.1117/12.3032457

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