Research on trajectory planning method of anchor drilling robot manipulator
In order to enhance the efficiency of tunnel support in coal mines, a study focused on the six-degree-of-freedom drill anchor robot manipulator arm and proposed an optimal trajectory planning method based on an improved grey wolf optimization algorithm. Firstly, the kinematic model of the manipulato...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Emergency Management Press
2024-10-01
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| Series: | 矿业科学学报 |
| Subjects: | |
| Online Access: | http://kykxxb.cumtb.edu.cn/en/article/doi/10.19606/j.cnki.jmst.2024.05.015 |
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| _version_ | 1850062635743051776 |
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| author | ZHANG Jun LI Wanye GUO Jiahua LI Jingkai HE Xinyue WU Zhongbin |
| author_facet | ZHANG Jun LI Wanye GUO Jiahua LI Jingkai HE Xinyue WU Zhongbin |
| author_sort | ZHANG Jun |
| collection | DOAJ |
| description | In order to enhance the efficiency of tunnel support in coal mines, a study focused on the six-degree-of-freedom drill anchor robot manipulator arm and proposed an optimal trajectory planning method based on an improved grey wolf optimization algorithm. Firstly, the kinematic model of the manipulator arm was established using the D-H parameter method. Monte Carlo method was utilized for workspace analysis of the manipulator arm, and MATLAB software was employed for simulation verification; Secondly, joint-space trajectory of the manipulator arm was planned using piecewise polynomial interpolation; Finally, an improved grey wolf optimization algorithm was proposed and its performance tested for time optimization of the manipulator arm based on trajectory planning. The results show that the drill-anchoring robot manipulator meets the requirements for coal mine roadway anchoring operations; the 3-5-3 piecewise polynomial interpolation method provides smoother operation of the manipulator; and the time required for the manipulator to reach predefined trajectory points under constraint conditions is reduced by 30.40 % to 50.28 %, outperforming traditional trajectory planning methods. |
| format | Article |
| id | doaj-art-45a11efe6cbc4422a4749ef4bffdc2ae |
| institution | DOAJ |
| issn | 2096-2193 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | Emergency Management Press |
| record_format | Article |
| series | 矿业科学学报 |
| spelling | doaj-art-45a11efe6cbc4422a4749ef4bffdc2ae2025-08-20T02:49:52ZengEmergency Management Press矿业科学学报2096-21932024-10-019580781610.19606/j.cnki.jmst.2024.05.015kykxxb-9-5-807Research on trajectory planning method of anchor drilling robot manipulatorZHANG Jun0LI Wanye1GUO Jiahua2LI Jingkai3HE Xinyue4WU Zhongbin5College of Mechanical and vehicle Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, ChinaCollege of Mechanical and vehicle Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, ChinaCollege of Mechanical and vehicle Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, ChinaCollege of Mining Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, ChinaCollege of Mechanical and vehicle Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, ChinaCollege of Mechanical and vehicle Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, ChinaIn order to enhance the efficiency of tunnel support in coal mines, a study focused on the six-degree-of-freedom drill anchor robot manipulator arm and proposed an optimal trajectory planning method based on an improved grey wolf optimization algorithm. Firstly, the kinematic model of the manipulator arm was established using the D-H parameter method. Monte Carlo method was utilized for workspace analysis of the manipulator arm, and MATLAB software was employed for simulation verification; Secondly, joint-space trajectory of the manipulator arm was planned using piecewise polynomial interpolation; Finally, an improved grey wolf optimization algorithm was proposed and its performance tested for time optimization of the manipulator arm based on trajectory planning. The results show that the drill-anchoring robot manipulator meets the requirements for coal mine roadway anchoring operations; the 3-5-3 piecewise polynomial interpolation method provides smoother operation of the manipulator; and the time required for the manipulator to reach predefined trajectory points under constraint conditions is reduced by 30.40 % to 50.28 %, outperforming traditional trajectory planning methods.http://kykxxb.cumtb.edu.cn/en/article/doi/10.19606/j.cnki.jmst.2024.05.015drilling and anchoring robotd-h parameter methodpolynomial interpolation methodtrajectory planningimproved grey wolf optimization algorithm |
| spellingShingle | ZHANG Jun LI Wanye GUO Jiahua LI Jingkai HE Xinyue WU Zhongbin Research on trajectory planning method of anchor drilling robot manipulator 矿业科学学报 drilling and anchoring robot d-h parameter method polynomial interpolation method trajectory planning improved grey wolf optimization algorithm |
| title | Research on trajectory planning method of anchor drilling robot manipulator |
| title_full | Research on trajectory planning method of anchor drilling robot manipulator |
| title_fullStr | Research on trajectory planning method of anchor drilling robot manipulator |
| title_full_unstemmed | Research on trajectory planning method of anchor drilling robot manipulator |
| title_short | Research on trajectory planning method of anchor drilling robot manipulator |
| title_sort | research on trajectory planning method of anchor drilling robot manipulator |
| topic | drilling and anchoring robot d-h parameter method polynomial interpolation method trajectory planning improved grey wolf optimization algorithm |
| url | http://kykxxb.cumtb.edu.cn/en/article/doi/10.19606/j.cnki.jmst.2024.05.015 |
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