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Control method of industrial robot demonstration planner with motion planning function

An industrial robot and motion planning technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of large size, many buttons, and inconvenient operation of connecting industrial computers, so as to reduce costs, improve stability, and reduce communication failures. The effect of probability

Inactive Publication Date: 2014-05-28
ZHEJIANG UNIV
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  • Abstract
  • Description
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Problems solved by technology

[0004] In view of the problems that the existing robot teaching box has a large volume, many buttons, and needs to be connected with an industrial computer and is inconvenient to operate, the purpose of the present invention is to provide a control method for an industrial robot teaching planner with a motion planning function

Method used

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  • Control method of industrial robot demonstration planner with motion planning function
  • Control method of industrial robot demonstration planner with motion planning function
  • Control method of industrial robot demonstration planner with motion planning function

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Embodiment Construction

[0029] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific examples, but the embodiments of the present invention are not limited thereto.

[0030] Such as figure 1 Shown, the present invention comprises core processor, program data memory, USB expansion interface, RS-485 serial port communication interface, Ethernet communication interface, power supply and reset circuit and liquid crystal touch screen; Core processor is connected with program data memory, USB expansion interface respectively , RS-485 serial communication interface, Ethernet communication interface, power supply and reset circuit are connected to LCD touch screen, the core processor adopts ARM9 embedded core processing chip, Ethernet communication interface is connected to PC, RS-485 serial communication interface is connected to robot Controller connection.

[0031] The core processing chip adopts an embedded operating system.

[0032] ...

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Abstract

The invention discloses a control method of an industrial robot demonstration planner with a motion planning function. The method comprises: establishing a new demonstration file or opening a demonstration file, setting the system parameters and demonstration parameters of a robot, controlling the robot in a robot task space to carry out hand-operated demonstration, and utilizing the programming instruction of a VAL-III language to carry out demonstration programming; performing robot kinetics inversion, converting a three-dimensional locus into a joint space locus, inserting a locus intermediate point in the joint space locus, planning a locus equation, and obtaining the locus equation of a joint space; carrying out time interval interpolation calculating, and obtaining a robot control sequence point; and sending the obtained robot control sequence point to a robot controller through an RS-485 serial port. According to the invention, a demonstration system and a motion planning system are integrally combined, a robot motion planning function is provided, and the demonstration working efficiency is high.

Description

[0001] This patent application is a divisional application of the invention patent application with the application number 201210161778.1, the application date is May 23, 2012, and the invention title is "Industrial robot teaching planner with motion planning function and its control method". technical field [0002] The invention relates to a control method of a teaching planner, in particular to a control method of an industrial robot teaching planner with a motion planning function. Background technique [0003] As computer integrated manufacturing technology approaches from the laboratory stage to the practical stage of factories, the demand for industrial robots is increasing, and the market for robotic automated production is also increasing. The wide application of industrial robots has a great impact on human-computer interaction. Higher requirements are put forward. As an important optional part of the robot controller, the teaching box can provide a good human-machi...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 朱世强陈庆诚郑东鑫吴文祥
Owner ZHEJIANG UNIV
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