A Research of Motion Trajectory Optimization for LargeCurvature of Ship Hull Plate Processing Line Robot

Liu Si-liang; Cheng Liang-lun

doi:10.12052/gdutxb.150149

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A Research of Motion Trajectory Optimization for LargeCurvature of Ship Hull Plate Processing Line Robot

更新时间：2026-05-27

- A Research of Motion Trajectory Optimization for LargeCurvature of Ship Hull Plate Processing Line Robot
- Vol. 34, Issue 1, Pages: 84-89(2017)
- 作者机构：
- 作者简介：
- 基金信息：
- DOI：10.12052/gdutxb.150149
  CLC： TP23
- Online First：09 January 2017，
  
  Published：2017
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刘斯亮, 程良伦. 大曲率船体外板水火加工机器人运动轨迹优化研究[J]. 广东工业大学学报, 2017, 34(1): 84-89.

Liu Si-liang, Cheng Liang-lun. A Research of Motion Trajectory Optimization for LargeCurvature of Ship Hull Plate Processing Line Robot[J]. 2017, 34(1): 84-89.
刘斯亮, 程良伦. 大曲率船体外板水火加工机器人运动轨迹优化研究[J]. 广东工业大学学报, 2017, 34(1): 84-89. DOI： 10.12052/gdutxb.150149.

Liu Si-liang, Cheng Liang-lun. A Research of Motion Trajectory Optimization for LargeCurvature of Ship Hull Plate Processing Line Robot[J]. 2017, 34(1): 84-89. DOI： 10.12052/gdutxb.150149.

摘要

针对当前大曲率船体外板自动化加工设备生产过程中普遍存在的无效轨迹过长、加工效率低的现状，提出一种基于贪婪算法的火路选择排序方法，通过对多条待加工路径进行排序优化，减少烧板过程中规划外的无效轨迹，缩短单板加工时间，提高生产效率.设计出一种基于双NURBS算法的水火弯板机曲线插补方法，实现对大曲率复杂船体外板火路特征点的密化，提升了加工精度.实验证明，贪婪算法和双NURBS插补算法在水火弯板机控制系统中的应用，大大提高了加工精度和设备运行效率，在弯板加工过程中达到运动优化轨迹的效果.

Abstract

For the present stage

facing the long invalid trajectory and low working efficiency of large curvature of hull plate processing automation equipment

a new method of fire paths selection is designed based on greedy algorithm to reduce the invalid track outside the process of the burning plate by optimizing the path of multiple paths to be processed. In this way

it could shorten the processing time of single plate and improve production efficiency. A curve interpolation method is presented based on double NURBS algorithm to realize the optimization of machining trajectory curvature complex hull plate

improving the machining precision. The experiment proves that application of greedy algorithm and double NURBS interpolation algorithm in line heating control system greatly improves the machining accuracy and the operating efficiency of the machine

and has achieved the effect of the optimization of the motion trajectory in the bending plate machining process.

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references

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