同步优化机器人工具姿态、冗余度与路径点时间，提升制造精度和运动平滑性。
Co-Optimization of Tool Orientations, Kinematic Redundancy, and Waypoint Timing for Robot-Assisted Manufacturing
- 三者联合优化：工具姿态、关节冗余、路径点时间同时调整。
- 支持大规模路径点，可并行处理，显著提升计算效率。
- 适用于高精度制造场景，如机器人增材制造，实测效果显著。
本文提出一种协同且可扩展的轨迹优化方法，用于提升机器人辅助制造的质量。该方法在包含大量路径点的输入工具路径上，同步优化工具姿态、运动学冗余度和路径点时间，以提高运动平滑性并满足制造约束。不同于现有方法分步解耦处理，本方法采用基于分解的数值方案，支持外存计算与并行运行，有效应对大规模路径点带来的计算挑战。通过仿真与物理实验验证了其在机器人辅助增材制造中的有效性。
原文摘要 · Abstract (English)
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on input toolpaths with large numbers of waypoints to improve kinematic smoothness while incorporating manufacturing constraints. Differently, existing methods always determine them in a decoupled manner. To deal with the large number of waypoints on a toolpath, we propose a decomposition-based numerical scheme to optimize the trajectory in an out-of-core manner, which can also run in parallel to improve the efficiency. Simulations and physical experiments have been conducted to demonstrate the performance of our method in examples of robot-assisted additive manufacturing.
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