Robot Trajectory Planning and Adjustment Method for Abnormal Pose of Actuator

Authors

• Lang Qin, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China; Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan University of Technology, Taiyuan 030024, China
• Jiacheng Xie, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China; Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan University of Technology, Taiyuan 030024, China
• Xiaojun Qiao, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China; Taiyuan Heavy Machinery Group Co ., Ltd., Taiyuan 030000, China
• Xuewen Wang, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China; Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan University of Technology, Taiyuan 030024, China
• Zhijie Xiao, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China; Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan University of Technology, Taiyuan 030024, China

Abstract

To address the influence of the abnormal pose of the robot actuator on the robot trajectory, an adaptive planning and adjustment method of trajectory based on virtual-real fusion was proposed. AR technology was introduced to couple with the robot kinematics model, and the hardware dependence on multiple sensors was replaced by synchronous comparison of three-dimensional virtual and real poses; AR gestures and voice interaction were combined to simplify the operation process; based on the actual pose of the actuator, the trajectory of the robot terminal axis was dynamically adjusted. The experimental results show that this method breaks through the technical and cost limitations of traditional calibration, reduces equipment requirements, and lowers deployment costs. The calibration efficiency is improved, and the requirement for operation professionalism is weakened. The adaptive planning and adjustment capability of the robot trajectory is enhanced, especially solving the defect that existing planning algorithms have mature responses to the external environment but insufficient responses to sudden changes in the pose of the actuator body. It provides a new paradigm with high adaptability and low cost for actuator pose calibration and trajectory optimization in robot operations.

Recommended Citation

Qin, Lang; Xie, Jiacheng; Qiao, Xiaojun; Wang, Xuewen; and Xiao, Zhijie (2026) "Robot Trajectory Planning and Adjustment Method for Abnormal Pose of Actuator," Journal of System Simulation: Vol. 38: Iss. 5, Article 22.
DOI: 10.16182/j.issn1004731x.joss.25-0541
Available at: https://dc-china-simulation.researchcommons.org/journal/vol38/iss5/22

First Page

1466

Last Page

1483

CLC

TP391.9; TP242

Recommended Citation

Qin Lang, Xie Jiacheng, Qiao Xiaojun, et al. Robot Trajectory Planning and Adjustment Method for Abnormal Pose of Actuator[J]. Journal of System Simulation, 2026, 38(5): 1466-1483.

Corresponding Author

Wang Xuewen

DOI

10.16182/j.issn1004731x.joss.25-0541