煤矸石智能分拣机器人运动规划技术的研究进展

运动规划是煤矸石智能分拣机器人研究过程中必不可少的一环,但是目前仍有一些问题待解决。首先介绍了煤矸石分选现状,其次分析了煤矸石智能分拣机器人运动规划的关键技术,主要包括如何追踪动态煤矸石、如何规划轨迹以减少冲击和如何针对障碍物进行避障。最后得出今后煤矸石智能分拣机器人运动规划的研究方向,包括基于轨迹优化的分拣策略研究、拣矸机械臂末端抓取位姿研究和协作空间下多机械臂拣矸的轨迹规划研究。

Research Progress on Motion Planning Technology of Intelligent Sorting Robots for Coal Gangue

Motion planning is an essential part of the research process of intelligent sorting robots for coal gangue, but there are still some problems to be solved. Firstly, the current status of coal gangue sorting was introduced. Secondly, the key technologies for motion planning of intelligent sorting robots for coal gangue were analyzed, including how to track dynamic coal gangue, how to plan trajectories to reduce impact, and how to avoid obstacles. Finally, the research directions for the future motion planning of intelligent sorting robots for coal gangue are identified, including research on sorting strategies based on trajectory optimization, research on the end grasping posture of the picking robotic arm, and research on trajectory planning for multi robotic arm picking in collaborative space.