A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="8"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Δ<i>θ</i><sub>1</sub></td><td class="align_center">Δ<i>θ</i><sub>2</sub></td><td class="align_center">Δ<i>θ</i><sub>3</sub></td><td class="align_center">Δ<i>θ</i><sub>4</sub></td><td class="align_center">Δ<i>θ</i><sub>5</sub></td><td class="align_center">Δ<i>θ</i><sub>6</sub></td><td class="align_center">Max Δ<i>θ</i></td></tr><tr><td class="thead-hr" colspan="8"><hr/></td></tr><tr><td class="align_left">Before optimization</td><td class="align_center">0.4711</td><td class="align_center">0.3512</td><td class="align_center">0.2951</td><td class="align_center">2.8134</td><td class="align_center">0.8810</td><td class="align_center">1.5024</td><td class="align_center">2.8134</td></tr><tr><td class="align_left">After optimization</td><td class="align_center">0.1508</td><td class="align_center">0.1678</td><td class="align_center">0.0881</td><td class="align_center">1.0657</td><td class="align_center">0.3917</td><td class="align_center">0.6646</td><td class="align_center">1.0657</td></tr><tr class="table-tr"><td colspan="8"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Joint variation of the robotic grinding path before and after optimization (rad).</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding 