System and method for controlling coordinated movement of industrial robot and positioner

Abstract

The invention discloses a system and method for controlling the coordination movement of an industrial robot and a position changing machine. The method includes the steps of S1, building a connecting rod coordinate system and a positive kinematic model, S2, obtaining a transformation relation between a workbench coordinate system of the position changing machine and a base coordinate system of the industrial robot, S3, selecting a plurality of points from an operation curve, and determining a coordinate and a shaft angle of each point, S4, using the same independent variable to build a first cubic spline interpolation function and a second cubic spline interpolation function, S5, setting the speed of the industrial robot, S6, calculating the current displacement amount of the industrial robot, and calculating a value of the independent variable, S7, calculating the position interpolation amount and the shaft angle interpolation amount of the position changing machine, S8, conducting inverse kinematic on the industrial robot to obtain the shaft angle interpolation amount of the industrial robot, and S9, controlling the industrial robot and the position changing machine to move. By means of the system and method, the aim of coordination movement of the industrial robot and the position changing machine along a complex space track is achieved.

Description

technical field [0001] The invention relates to a system and method for controlling the coordinated movement of an industrial robot and a positioner, in particular to a system for planning the motion trajectory interpolation of an industrial robot and a positioner by using uniform parameter variables, and a system utilizing the method for implementing the system. Background technique [0002] When an industrial robot performs welding or cutting operations, it is not only required that the industrial robot can perform interpolation motion in strict accordance with a specific spatial trajectory. The so-called interpolation means that according to a given curve function, between known points on an ideal trajectory , densify data points, determine some intermediate points, and also have certain requirements for the attitude of the industrial robot when it reaches each trajectory point. For complex spatial trajectories, it is difficult to ensure that industrial robots meet the a...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the disadvantages and certain limitations of the coordinated motion interpolation algorithm of industrial robots and positioners in the prior art, and to provide a method of using unified parameter variables for industrial robots and positioners. A system for planning the motion track interpolation of a bit computer and a method realized by using the system

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