Implementation method of real-time circular interpolation for industrial robots based on spatial coordinate transformation

An industrial robot and circular interpolation technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as few studies on multi-coordinate axis systems, poor precision, and complex algorithms

Active Publication Date: 2015-11-25
中绿农供应链管理有限公司
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Problems solved by technology

Industrial robots usually require multi-axis and multi-joint linkage, and multi-axis and multi-joint linkage algorithms involve multi-coordinate axis systems, which belong to the high-tech category. The algorithm is very complicated, and foreign countries are technically blocked to my country. There are not many studies on multi-axis systems. Due to the complexity of the algorithm, it is difficult to apply it to the actual development of industrial robots, and the algorithm execution efficiency is low and the accuracy is poor. Therefore, how to find a simple and efficient multi-axis interpolation implementation method, has become an important research topic

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  • Implementation method of real-time circular interpolation for industrial robots based on spatial coordinate transformation
  • Implementation method of real-time circular interpolation for industrial robots based on spatial coordinate transformation
  • Implementation method of real-time circular interpolation for industrial robots based on spatial coordinate transformation

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Embodiment Construction

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] refer to figure 1 As shown, the present invention discloses a real-time circular interpolation implementation method for an industrial robot based on spatial coordinate transformation, comprising the steps of:

[0029] S1. Determine the required pose of the industrial robot through teaching, and the robot controller obtains the motion trajectory provided by the teaching box through the communication port.

[0030] S2. The central processing unit of the robot controller converts the motion trajectory into a space straight line or a space arc after calculation;

[0031] S3, the central processing unit of the robot controller, after further operation, converts the space straight line into a plane straight line through coordinate conversion, and converts the space arc into a plane arc;

[0032] S4. The central processing unit of the robot controller ...

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Abstract

The invention discloses a method for interpolating circular arcs in real time for industrial robots on the basis of space coordinate transformation. The method includes steps of S1, enabling controllers of the robots to acquire movement tracks via communication ports; S2, transforming the movement tracks into space straight lines or space circular arcs; S3, transforming the space straight lines into plane straight lines by means of coordinate transformation and transforming the space circular arcs into plane circular arcs by means of coordinate transformation; S4, computing space straight line interpolation and plane circular arc interpolation by the aid of real-time interpolation algorithms; S5, transforming interpolation results into space results by means of coordinate transformation and acquiring poses meeting teaching requirements; S6, providing the ultimately acquired poses meeting the teaching requirements to movement mechanisms of the robots via the communication ports and executing the poses. The movement tracks are provided by teaching boxes. The interpolation results are plane results. The method has the advantages that quick interpolation and multi-axis and multi-joint linkage control can be implemented, and the control precision is high.

Description

【Technical field】 [0001] The invention relates to the technical field of motion control of industrial robots, in particular to a method for realizing real-time circular interpolation of industrial robots based on space coordinate transformation, which is used for industrial robots to complete complex movements with high precision and high efficiency. 【Background technique】 [0002] Real-time interpolation of industrial robots is one of the core technologies of industrial robot motion. The position control of industrial robots usually adopts the method of teaching and reproduction, that is, the robot remembers the previously taught position points, and then repeats these position points. Therefore, The more position points are taught, the more precise the robot movement, but the lower the efficiency. To solve this problem, a real-time interpolation method for industrial robots is introduced. [0003] The real-time interpolation methods of industrial robots include spatial li...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 杨昊龙江南
Owner 中绿农供应链管理有限公司
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