Trajectory Optimization of Composite-pipe Cutting Based on Robot

The industrial robot with 6 degree of freedom is studied in this paper. According to the interference problems that exist in the actual cutting process of robot, a method is proposed which could make optimal selection of the trajectory of robot after the interference problems is eliminated. After the determination of the posture of cutting head, the model of intersecting line and programming the cutting trajectory of robot, the 3D model of mechanical arm and incised work piece are imported into OPENGL, using collision detection based on OPENGL to screen the interference point of the robot arm. The cutting trajectory is verified through the simulation with ADAMS. The simulation result shows that the robot can run steadily after eliminating the interference and the intersecting line meets the demands.