Research On Path Planning And Related Algorithm Of Robot In Large-scale Workpiece Measurement Based On Off-line Programming Technology

In the advanced manufacturing fields such as aviation,aerospace,ships,new energy vehicles,etc.,the measurement of large-scale workpiece is the focus and difficulty of product quality detection,but the traditional manual measurement method has the disadvantages of low efficiency and low accuracy,and the commonly used robot online teaching measurement method is difficult to meet the current needs of automatic measurement due to its low efficiency in the measurement path planning process.The path planning method based on off-line programming technology of industrial robot has the advantages of safety,high efficiency and wide application range.Therefore,the research on off-line programming based measurement path planning method for large-scale workpiece has certain theoretical significance,which has important engineering value for manufacturing enterprises to achieve efficient,accurate and safe detection.In view of the current situation of measurement path planning of industrial robots,this paper has carried out a systematic study on the measurement path planning method of large-scale workpieces,carried out the research on the three-dimensional path planning algorithm based on ant colony algorithm,and used off-line programming technology to optimize the measurement path,initially built a set of subway platform screen door column measurement control system,and verified the effectiveness of the method.The main research works of this paper are as follows:(1)Based on the principle of basic ant colony algorithm,the characteristics and application of basic ant colony algorithm a re analyzed.Then the corresponding ant colony algorithm model is analyzed from two aspects of TSP and path obstacle avoidance.Finally,several common ant colony optimization algorithms are briefly introduced.(2)An ant colony algorithm based path planni ng algorithm for large-scale workpiece measurement is proposed.According to the column model of Metro screen door,the characteristics of its external dimension are analyzed and predigested.Then,the measurement path planning algorithm is designed based on ant colony algorithm,and the core path interference judgment algorithm is described in detail.Finally,the algorithm is simulated in MATLAB experimental environment.The experimental results show that the algorithm can effectively plan an optimal meas urement path that traverses the sampling point and avoids the obstacles in the large-scale obstacle environment,and the convergence speed and the ability to escape from the local optimal solution are satisfactory.(3)An industrial robot based measurement scheme of metro platform screen door column is designed.Then,the overall layout of the scheme is built in KUKA Sim Pro offline programming simulation software,and the optimal debugging of the measurement path and the simulation of the measurement proce ss are carried out.The simulation results show that the scheme can realize the collision free detection of the platform screen door column.Finally,the hardware part of the platform screen door column measurement and control system is built,and the real-time data transmission between PLC and robot control system is realized by using PROFINET.(4)Based on LabVIEW,the measurement and control system of platform screen door column is designed.The system login module and measurement control module are introduced,and the running time of the system is tested.The results show that the image sampled by the system is clear and the system efficiency is high.