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Tracking method for mechanical arm tail end trajectory of robot

A trajectory tracking, robotics technology, applied in manipulators, manufacturing tools, etc., can solve problems such as slow calculation speed and large amount of calculation

Active Publication Date: 2012-07-11
BEIJING ZHONGKE GUANGSHI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the defects of large calculation amount and slow calculation speed of the existing trajectory tracking method, thereby providing a high-speed robot manipulator terminal trajectory tracking method

Method used

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  • Tracking method for mechanical arm tail end trajectory of robot
  • Tracking method for mechanical arm tail end trajectory of robot
  • Tracking method for mechanical arm tail end trajectory of robot

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Embodiment Construction

[0047] The present invention will be described below in conjunction with the accompanying drawings and specific embodiments.

[0048]Since directors and other practitioners in the camera industry generally do not have the professional knowledge in the field of robot motion control, users usually can only give rough basic information, which includes the end of the robot manipulator preset by the user (for camera robots, other The end of the manipulator is the running trajectory of the camera), including: the key points that the camera will reach when it is moving, the time to reach these key points, and the attitude of the camera at the position of the key points. as in figure 1 A schematic diagram of the motion trajectory preset by the user for the camera robot before shooting is given in . Utilizing these information can not directly control the camera robot to move according to the preset track, what the method of the present invention needs to do is to obtain the accelerat...

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Abstract

The invention provides a tracking method for a mechanical arm tail end trajectory of a robot, which comprises the following steps: the mechanical arm tail end moving track of a robot, which is defined by a user in advance, is expressed in a mathematic form; the moving track expressed in the mathematic form is positioned in a joint space; according to the kinetic equation of the robot, the application scene of the robot and the mechanical arm tail end moving trajectory of the robot, which is defined by the user in advance, a target function and a constraint equation are built; both the target function and the function in the constraint equation can be converted into convex functions; the target function and the function in the constraint function are both converted into the convex functions to form a convex programming optimization model; the convex programming optimization model is solved after being discretized to obtain the amount of exercise of each joint of the robot; and the robot is driven by the amount of exercise of each joint of the robot. The tracking method for a mechanical arm tail end track of a robot has the advantage of being high in calculation speed and easy to expand.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for tracking the end trajectory of a robot's manipulator. Background technique [0002] Robots have been widely used in the field of industrial production, such as using robots for welding or assembly and other tasks with high risk factors and high physical requirements. With the rapid promotion of the cultural industry, camera robots have also begun to be popularized and applied. Compared with traditional shooting methods, camera robots have the advantages of repeatability, high precision, high strength and high-speed controllability, and can also replace humans to complete shooting in dangerous scenes. No matter what field the robot is used in, it is required that the robot work in an environment with high quality, efficiency and safety in accordance with the requirements of the task. This requires research on robot control and motion planning. The motion planning of th...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J13/00
Inventor 魏毅赵建军朱登明刘华俊王兆其
Owner BEIJING ZHONGKE GUANGSHI TECH
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