Pipeline spraying robot and operation track planning method thereof

A technology of trajectory planning and pipeline spraying, which is applied in the field of robotics and can solve problems such as complex calculations

Inactive Publication Date: 2009-12-30
TSINGHUA UNIV +1
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  • Abstract
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Problems solved by technology

Another example, the quadratic programming method requires writing a quadratic optimization function, which contains a matrix, so the operation is complicated
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Method used

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  • Pipeline spraying robot and operation track planning method thereof
  • Pipeline spraying robot and operation track planning method thereof
  • Pipeline spraying robot and operation track planning method thereof

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Embodiment Construction

[0048] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0049] figure 1 is a method flowchart of an embodiment of the present invention; figure 2It is the inverse kinematics solution model of the pipe spraying robot with multiple redundant degrees of freedom in the embodiment of the present invention. like figure 1 and figure 2 As shown, the operation trajectory planning method of the pipeline spraying robot with multiple redundant degrees of freedom according to the present invention comprises the following steps:

[0050] S1, the geometric model of the surface to be sprayed is imported into a specific module of the drawing software, such as the Arc Welding module of DELMIA software, and the Arc Welding module automatica...

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Abstract

The invention discloses a pipeline spraying robot with multiple-redundant degree of freedom and an operation track planning method thereof. The method comprises the following steps: S1, a geometric mode of a sprayed surface is led into a specified module of a drawing software, the specified module automatically generates a no-touching spraying path of the spraying workpiece of the robot in the pipeline; S2, iterative operation is carried out based on a projection gradient method, and the continuous movement track of the joints of the robot is planned; S3, collision detection is carried out according to the continuous movement track of the joints, if colliding, the weighting coefficient of an optimization function is revised, and S2 is restarted to re-plan the continuous movement track of the joint; otherwise, planning ends. The method of the invention has small calculation amount, can ensure no wall collision occurs when the method is used for spraying the inner wall of a special-shaped long path after planning tracks, and has high spraying quality.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pipeline spraying robot with multiple redundant degrees of freedom and an operation trajectory planning method thereof. Background technique [0002] In the field of special industries, the inner walls of the narrow and long tubes of many complex workpieces need to be sprayed. Because the inner surfaces of these long and narrow tubes are relatively complex and the internal space is extremely narrow, it is difficult for spraying technicians to enter, so robots must be used for automatic spraying. [0003] In the prior art, redundant degree-of-freedom robots are generally used for pipeline spraying operations. The meaning of "redundancy" is that in order for the robot to complete the spraying operation in the narrow and complicated pipeline, the degree of freedom of the robot must be increased, so that the robot body will not conflict with the environmental constraints while the r...

Claims

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Application Information

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IPC IPC(8): B25J9/16B05B13/06
Inventor 邵君奕杨向东刘召吴丹陈恳张传清陈雁吴聊付成龙刘莉杨东超曹文敦陈明启路敦民李金泉付铁刘宗政徐家球郑林斌王力强颜华
Owner TSINGHUA UNIV
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