Offline trajectory planning method and system applied to masonry claying robot

• Main Authors: ZHENG ZECHENG, WANG CHAOHUI, SHI QINGYI, WU PENGMIN, YANG HONGJIE, LEI BIN, KE XILIN
• Format: Patent
• Language: Chinese; English
• Published: 01.03.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides an off-line trajectory planning method and system applied to a masonry claying robot, and relates to the field of mortar coating in the masonry industry, and the method comprises the following steps: S1, carrying out the laser scanning of a target object, and constructing a three-dimensional model of the target object according to the laser scanning; s2, bricks to be subjected to masonry and claying are recognized, and brick parameters and surfaces to be coated are obtained; s3, a trajectory planning system is established according to the working parameters, the mud parameters, the three-dimensional model and the brick parameters of the masonry plastering robot, and a planned trajectory is obtained; and S4, the masonry claying robot moves according to the planned track, and actual slurry smearing is conducted on the target object. The trajectory planning system is optimized according to the position, the joint speed, the angular speed, the angular acceleration and the joint torque of th