文献类型：期刊文献

英文题名：A Collision-free path planning approach based on rule guided lazy-PRM with repulsion field for gantry welding robots

作者：Zhou, Xin[1];Wang, Xuewu[2];Xie, Zuhong[2];Gao, Jin[2];Li, Fang[3];Gu, Xingsheng[2]

机构：[1]Shanghai Univ Elect Power, Coll Automat Engn, Shanghai 200090, Peoples R China;[2]East China Univ Sci & Technol, Key Lab Smart Mfg Energy Chem Proc, Minist Educ, Shanghai 200237, Peoples R China;[3]Shanghai Jiao Tong Univ, Shanghai Key Lab Mat Laser Proc & Modificat, Shanghai 200240, Peoples R China

年份：2024

卷号：174

外文期刊名：ROBOTICS AND AUTONOMOUS SYSTEMS

收录：;EI(收录号：20240515461055);WOS:【SCI-EXPANDED(收录号:WOS:001175148800001)】；

基金：This work was supported by the National Natural Science Foundation of China (61973120, 62076095, 62203292) , and Fundamental Research Funds of the Central Universities, 222201917006.

语种：英文

外文关键词：Arc welding; 15-DOF redundant gantry robots; online path planning; collision avoidance; lazy-PRM

摘要：In shipbuilding, various complex welding workpieces and large flexible workspaces bring great challenges to the automated intelligent welding system. In order to maintain the efficiency of primary assembling under a dualmanipulator welding gantry system, a rule-based lazy Probabilistic Roadmap Method (PRM) with a repulsion field is proposed to realize the collision-free online path planning system. It combines manual rules and the repulsive force field, which reduces computational complexity and maintains safety at work compared with traditional Lazy-PRM. Besides, the method plans paths in Cartesian space considering the coordinated movement between manipulators, welding guns and the gantry frame. The proposed method was tested in simulated and practical application scenarios, which proves its effectiveness in solving collision-free online path planning problems for the arc welding gantry system.