Path planning algorithm for bending robots

摘要

An algorithm for bending robots is presented in this paper. The algorithm makes use of the features of bending process to solve three problems: procedure generating, targets calculating and obstacle avoidance. It generates procedure with two state machines and a knowledge library, calculates targets with heuristic rules, and avoids obstacles in joint space. The algorithm has been applied to manufacture and improves the work efficiency of programming a bending robot.