B spline track planning method of robot joint space guided by vision

A technology for robot joint and trajectory planning, used in manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2012-11-28
JIANGNAN UNIV +1
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AI Technical Summary

Problems solved by technology

Robot joint space trajectory planning is the basis of robot trajectory tracking. Traditionally, B-spline method is used to plan joint space trajectory under manual teaching, which can ensure continuous and smooth motion; obtained dynamically, the traditional spline programming method cannot solve

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  • B spline track planning method of robot joint space guided by vision
  • B spline track planning method of robot joint space guided by vision
  • B spline track planning method of robot joint space guided by vision

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with specific drawings and embodiments.

[0028] B-spline trajectory planning is to connect these discrete points into a smooth curve (trajectory) by spline curve method according to the discrete coordinate points in task space or joint space. B-spline trajectory planning in joint space can be interpreted as: firstly use kinematics inverse solution to "convert" the task space path point into joint vector angle value, and then use spline curve method to fit the discrete angle value of each joint into a The smooth curve is the joint space trajectory.

[0029] The invention provides a vision-guided two-degree-of-freedom parallel robot trajectory tracking method for joint space B-spline trajectory planning, which realizes the smooth movement of the robot under the visual guidance and improves the precision of the robot trajectory tracking.

[0030] Such as figure 1 with figure 2 Shown: the robot joint ...

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Abstract

The invention relates to a B spline track planning method of a robot joint space guided by vision, which comprises the following steps: firstly, a 2-DOF (degree of freedom) robot is arranged in a stereoscopic support, an industrial camera is arranged at the front end of the stereoscopic support, and the moving direction of a conveyor belt is perpendicular to the moving plane of the 2-DOF robot; secondly, after the industrial camera obtains a first track point on the conveyor belt, a B spline curve is constructed according to the obtained time node sequence of joints within the time the 2-DOF robot moves to the first track point; thirdly, the constructed B spline curve is prolonged by adding a node vector and a control vertex to allow the B spline curve to go through an added joint position point; and fourthly, a position point on the B spline curve is calculated by adopting a De Boor recursive algorithm, so as to drive the 2-DOF robot to move. The B spline track planning method can realize smooth movement of the robot guided by the vision, and improve the track following precision of the robot.

Description

technical field [0001] The invention relates to a B-spline trajectory planning method, in particular to a vision-guided robot joint space B-spline trajectory planning method, belonging to the technical field of robot joint space trajectory planning. Background technique [0002] Since the first industrial robot was applied to the production line of General Motor Company in 1962, robot technology has been continuously developed, improved and matured, and has been widely used in manufacturing, service industry, entertainment industry, scientific exploration, medicine, military and aerospace, etc. field. Industrial robots can replace humans to complete a large number of high-quality work, such as automobile manufacturing, electrical product manufacturing, labor and food packaging, and material handling. The automobile manufacturing industry uses robots to complete welding, painting, assembly and other tasks in the automatic production line of automobiles. In the service indus...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08
Inventor 白瑞林肖文皓吉峰许凡
Owner JIANGNAN UNIV
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