Dynamic response spectrum-based method for planning track of robot with clearance at a joint

A technology of dynamic response and trajectory planning, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as addition, achieve the effect of small calculation and avoid separation

Inactive Publication Date: 2010-06-16
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of these methods is that additional hardware objects such as springs or counterweights are required

Method used

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  • Dynamic response spectrum-based method for planning track of robot with clearance at a joint
  • Dynamic response spectrum-based method for planning track of robot with clearance at a joint
  • Dynamic response spectrum-based method for planning track of robot with clearance at a joint

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the 5R robot. The flow chart of the trajectory planning of the robot with gaps in the joints based on the dynamic response spectrum is shown in figure 1 shown, including the following key steps:

[0032] (1) The motion polynomial function selected for the active joint of the robot;

[0033] (2) Calculate the undetermined coefficients of multinomial functions;

[0034] (3) Solve the joint reaction force of joints with gaps;

[0035] (4) Construct the dynamic response spectrum according to the joint reaction force of joints with gaps;

[0036] (5) Select an appropriate trajectory time variable from the dynamic response spectrum so that the kinematic pair always keeps in contact;

[0037] (6) If there is no trajectory time variable that meets the requirements in the dynamic response spectrum, increase the order of the trajectory planning polynomial function and return to step (1); otherwise, if a...

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Abstract

The invention discloses a dynamic response spectrum-based method for planning a track of a robot with a clearance at a joint. The method plans aiming at a given robot task, plans the spacial track of the joint of the robot among route key points by a motion polynomial function, and obtains a dynamic response spectrum of which the joint counter-force changes along with the change of the time and a track planning variable by using a track time span of each section of a motion track of the robot as the track planning variable. The reasonable track time span can be selected conveniently from the dynamic response spectrum, so that the two members connected by the joint with the clearance are always not separated from each other during the motion of the robot. The method can achieve the effect by only designing a software algorithm to control the track of the robot, without hardware objects such as a spring or counterweight and the like. Through the construction of the dynamic response spectrum with continuous track time spans, the method can guide designers how to select the track time span to avoid the separation of joint elements.

Description

technical field [0001] The invention relates to a trajectory planning method for a robot with gaps in joints based on dynamic response spectrum. Background technique [0002] Robot joints (kinematic pairs) connect two adjacent components and enable relative motion between the components. There must be a gap between the joint elements during assembly, and the joint gap tends to increase with the long-term operation of the robot. The existence of joint clearance affects the motion accuracy of the robot, and causes impact and collision between joint elements, which generates noise and aggravates joint wear. The accuracy and dynamic performance of robot operation are of great significance. [0003] At present, people mainly study the method of avoiding the separation of kinematic pairs during the movement process of general linkage mechanism from the perspective of mechanics with gaps. For example, in the paper "Counterweight optimization for reducing dynamic effects of clear...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 刘振宇卜王辉谭建荣
Owner ZHEJIANG UNIV
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