Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobi...Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobile robot and obstacles. But in case of active moving obstacle, many components and information need to process since their moving trace should be considered in real time. This paper mobile robot＇s driving algorithm of unknown dynamic envirormaent in order to drive intelligently to destination using ultrasonic and Global Positional Systern （GPS）. Sensors adjusted the placement dependment on driving of robot, and the robot plans the evasion method according to obstacle which are detected by sensors. The robot saves GPS coordinate of complex obstacle. If there are many repeated driving, robot creates new obstacles to the hr, ation by itself. And then it drives to the destination resolving a large range of local minirmnn point If it needs an intelligent circtmtantial decision, a proposed algorithm is suited for effective obstacle avoidance and arrival at the destination by performing simulations.展开更多
A new spiral tool path generation algorithm for 5-axis high speed machining is proposed in this paper.Firstly,the voltage contours are calculated to satisfy the machining parameters in the mapping parametric domain by...A new spiral tool path generation algorithm for 5-axis high speed machining is proposed in this paper.Firstly,the voltage contours are calculated to satisfy the machining parameters in the mapping parametric domain by means of the electrostatic field model of partial differential equations.Secondly,the mapping rules are constructed and the machining trajectory is planned out in the standard parametric domain in order to map and generate the spiral trajectory in the corresponding parametric domain.Finally,this trajectory is mapped onto the parametric surface for the obtainment of the spiral tool path.This spiral tool path can realize the machining of complicated parametric surface and trimmed surface without tool retractions.The above-mentioned algorithm has been implemented in several simulations and validated successfully through the actual machining of a complicated cavity.The results indicate that this method is superior to the existing machining methods to realize the high speed machining of the complicate-shaped cavity based on parametric surface and trimmed surface.展开更多
基金supported by the MKE(The Ministry of Knowledge Economy),Koreathe ITRC(Information Technology Research Center)support program(NIPA-2010-C1090-1021-0010)
文摘Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobile robot and obstacles. But in case of active moving obstacle, many components and information need to process since their moving trace should be considered in real time. This paper mobile robot＇s driving algorithm of unknown dynamic envirormaent in order to drive intelligently to destination using ultrasonic and Global Positional Systern （GPS）. Sensors adjusted the placement dependment on driving of robot, and the robot plans the evasion method according to obstacle which are detected by sensors. The robot saves GPS coordinate of complex obstacle. If there are many repeated driving, robot creates new obstacles to the hr, ation by itself. And then it drives to the destination resolving a large range of local minirmnn point If it needs an intelligent circtmtantial decision, a proposed algorithm is suited for effective obstacle avoidance and arrival at the destination by performing simulations.
基金supported by the National Program on Key Basic Research Project of China (973 Program) under Grant No.2011CB302400the National Natural Science Foundation of China (NSFC) under Grant Nos.50975274 and 51175479
文摘A new spiral tool path generation algorithm for 5-axis high speed machining is proposed in this paper.Firstly,the voltage contours are calculated to satisfy the machining parameters in the mapping parametric domain by means of the electrostatic field model of partial differential equations.Secondly,the mapping rules are constructed and the machining trajectory is planned out in the standard parametric domain in order to map and generate the spiral trajectory in the corresponding parametric domain.Finally,this trajectory is mapped onto the parametric surface for the obtainment of the spiral tool path.This spiral tool path can realize the machining of complicated parametric surface and trimmed surface without tool retractions.The above-mentioned algorithm has been implemented in several simulations and validated successfully through the actual machining of a complicated cavity.The results indicate that this method is superior to the existing machining methods to realize the high speed machining of the complicate-shaped cavity based on parametric surface and trimmed surface.
