Teaching track planning method and system for robot

A trajectory planning and robot technology, applied in the field of robot research, can solve problems such as complex optimization calculation process, uncontrollable robot trajectory accuracy, difficult polynomial times, etc., to achieve accurate space trajectory planning, smooth teaching action, and forward-looking error control smooth effect

Active Publication Date: 2014-03-19
INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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Problems solved by technology

[0004] In view of the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a trajectory planning method that can be used for robot teaching, which can be applied to robot teaching under normal circumstances, and can obtain accurate robot motion trajectory, solving the problems of the prior art. For the robot teaching trajectory planning method, it is difficult to determine the required polynomial degree, the optimization calculation process is complicated, and the accuracy of the obtained robot trajectory cannot be controlled in advance

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  • Teaching track planning method and system for robot
  • Teaching track planning method and system for robot

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[0029] In order to make the purpose, technical solution and advantages of the patent of the present invention clearer, the patent of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0030] The invention provides a robot teaching trajectory planning method, which obtains the spatial key point position of the teaching trajectory; according to the spatial key point series of the trajectory, the good locality and explicit invariance of the multi-node spline function are fully utilized. Solving the characteristics of equations, interpolation, and no need to give node tangent information when solving, the order of the interpolation polynomial remains unchanged when the number of nodes increases, etc., to achieve robot space trajectory curve fitting, and to obtain the teaching space trajectory curve; and The space trajectory curve is discretized to obtain the interpolation point of the robot motion trajectory under the co...

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Abstract

The invention discloses teaching track planning method and system for a robot, and relates to the field of robot teaching in an industrial process. The teaching track planning method comprises the following steps: collecting a space key point of a teaching track in the process of teaching the robot; obtaining a teaching track curve by using a multi-knot spline interpolation function and the least square fitting method according to the space key point of the teaching track. By adopting the method, action smoothness reappearing in teaching is also achieved by adopting an arc length error control interpolation algorithm. The method and the system can be applicable to robot teaching under general conditions, and the accurate robot movement track can be obtained. The method and the system have the characteristics of accurate space track planning and smooth predictive error control and teaching action, and can be used for achieving the teaching track planning of the robot in the industrial process.

Description

technical field [0001] The invention relates to the field of robot research in industrial processes, in particular to a robot teaching trajectory planning technology. Background technique [0002] In recent decades, robot teaching has been one of the hot research topics in the field of robotics research. At present, robot teaching can be roughly divided into two types: online teaching and offline teaching. Among them, the online teaching method is simple and direct, which is the basic working method of industrial robots at present, but for complex motion trajectories, it will be difficult to use the online teaching method to plan. Offline teaching is to establish the geometric model of the robot in the graphics software environment, control and manipulate the graphics through the geometric model of the robot, plan the trajectory of the robot, and then generate the corresponding robot control program. This offline teaching can realize the planning of complex space motion tr...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/423
Inventor 程韬波叶廷东周松斌刘哲李昌
Owner INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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