Industrial robot route planning method based on task and spline

Abstract

The invention discloses an industrial robot route planning method based on a task and a spline. The method comprises a robot controller, a kinematics module, a task module and a track planner, wherein the kinematics module, the task module and the track planner input information to the controller. The method comprises the following steps of S1, establishing a kinematics module of the industrial robot, and solving the forward and reverse kinematics of the industrial robot; S2, transmitting position information and gesture information of a task point of the industrial robot through the task module; S3, giving a route planning curve based on the spline through the track planner and the task module of the industrial robot; S4, acquiring the information of a joint space according to the given route curve and the forward and reverse kinematics, and transmitting the information to a drive device of the industrial robot through the track planner of the industrial robot. By adopting the technical scheme, not only can the problem that the industrial robot passes through multiple intermediate gestures in the application be solved, but also no jerking movement in acceleration of the industrial robot can be guaranteed.

Description

technical field [0001] The invention relates to an industrial robot path planning method based on tasks and spline curves. Background technique [0002] Industrial robots are working machines which can be equipped with tools for the automatic handling and / or processing of objects and which can program several axes of movement, for example with respect to orientation, position and workflow. An industrial robot usually consists of a robot arm with several axes and a programmable controller (control device), which controls or regulates the motion process of the industrial robot during operation. [0003] To achieve motion, the controller can plan this motion through trajectory planning. [0004] The commonly used trajectory planning methods are: 3-4-5 regular polynomial; 4-5-6-7 regular polynomial; linear function of cycloid motion and parabola fitting, etc. The advantage of the 4-5-6-7 regular polynomial over the 3-4-5 regular polynomial is that it can ensure that there is n...

AI Technical Summary

Problems solved by technology

When the robot requires intermediate poses, most of them use high-order regular polynomials. Kahaner, Moler, and Nash pointed out that this method of using polynomial interpolation becomes impractical when the number of intermediate poses increases, because the increase in intermediate poses It will increase the degree of the regular polynomial, the condition number of the polynomial coefficient equation system will become larger, and the relative rounding error is equal to the rounding error multiplied by an amplification factor - the equation system condition number, so that the solution of the equation system is distorted

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