Delta robot time optimal trajectory planning method

A technology of trajectory planning and robotics, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve problems such as runge and motion that are difficult to meet the optimal requirements, and achieve faster search speed, improved control efficiency and stability , to reduce the effect of impact

Active Publication Date: 2014-09-24
JIANGNAN UNIV +1
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Problems solved by technology

However, there are a lot of uncertain factors in the path of the industrial site, especially the Runge phenom...

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  • Delta robot time optimal trajectory planning method
  • Delta robot time optimal trajectory planning method
  • Delta robot time optimal trajectory planning method

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Embodiment Construction

[0015] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0016] The basic purpose of the present invention is to take the Delta robot as the running platform, carry out the trajectory planning of the joint space for the action of grasping the objects on the conveyor belt, and take the optimal time as the goal within the range that the mechanical structure of the robot can bear, and carry out the optimization of each joint of the Delta robot. control. The main process is divided into target acquisition, B-spline trajectory planning based on fractional particle swarm optimization algorithm, and two-dimensional fuzzy algorithm to find the corresponding optimal time node offline, such as figure 1 shown.

[0017] Further, the specific steps are:

[0018] (1) Install the Delta robo...

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Abstract

The invention provides a vision-guided trajectory planning method on the basis of a Delta robot joint space. The method is applied to the optimal time motion of a Delta robot. The method comprises the following steps: solving a kinematic relation of the Delta robot; establishing an inverse kinematical equation for a motion from an end effector to each joint; acquiring a target position through an industrial intelligent camera; updating the target position on real time through an encoder; dividing a working area of the Delta robot into 9*13 subareas; planning the motion route of each joint at different areas through a B spline offline; maintaining smooth and continuous speed, acceleration and jerk; reducing the impact of a servo motor to a mechanical structure; improving the typical particle swarm optimization; speeding up to search time nodes with optimal solution by the fractional order particle swarm optimization in order to avoid local optimal solution; then performing the two-dimensional fuzzy method to select the optimal time node corresponding to the working area of the robot on line, and thus finishing control.

Description

technical field [0001] The present invention relates to the field of joint space trajectory planning of Delta robots, specifically refers to an off-line optimization scheme for time nodes based on fractional order particle swarms, realizes trajectory planning of joint spaces of Delta robots, and proposes a two-dimensional fuzzy method, online Selecting time nodes to improve robot action time belongs to the field of robot trajectory planning. Background technique [0002] In the industrial field, only the starting point and end point of the robot movement need to be given, and the robot can complete the corresponding action. In order to ensure the compliance of the robot's movement between the start and end points, reduce the wear of the mechanical structure, and move quickly under the premise of meeting the specifications of the motor, it is necessary to plan the trajectory of the movement process of each joint of the robot. [0003] At present, the trajectory planning sche...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 白瑞林殷国亮李新吉峰
Owner JIANGNAN UNIV
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