Title: Optimisation of operation path of six-DOF industrial robot arm based on augmented reality

Authors: Juchen Li

Addresses: The College of Mechanical and Electronic Engineering, Auhui Wenda University of Information Engineering, Hefei 230012, China

Abstract: There are some problems in the path planning method of 6-DOF industrial robot arm, such as low planning accuracy and long optimisation time. A path optimisation method of 6-DOF industrial robot arm based on augmented reality is proposed. Using contour method to determine the three-dimensional coordinates of the running path, determine the arm-running path. According to the different marking results, the coordinate system matrix is determined, and the vector corresponding to the translation axis in the translation matrix is obtained to locate the obstacle points in the running path. The similarity matching of arm running path is carried out and with the help of virtual reality technology and virtual path superposition, the operation path optimisation model is constructed, and the operation path optimisation of 6-DOF robot arm is completed. The results show that the method has high accuracy and the shortest optimisation time is about 1.75 s.

Keywords: augmented reality; industrial robot; running path; node location; 3D coordinate.

DOI: 10.1504/IJMTM.2022.128723

International Journal of Manufacturing Technology and Management, 2022 Vol.36 No.5/6, pp.284 - 297

Received: 12 Apr 2021
Accepted: 27 Oct 2021
Published online: 02 Feb 2023 *

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