A Planning Method for Cartesian Space Trajectories of Robots

A Cartesian space and robotics technology, applied in the direction of instruments, adaptive control, attitude control, etc., can solve problems such as poor flexibility, heavy computational workload, and singularity of planning paths

Active Publication Date: 2018-01-26
张耀伦
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current Cartesian coordinate space planning method has a large computational workload, and the attitude planning problem is complex, which leads to the possibility that the planned trajectory may approach or pass through the singular point, resulting in unsolvable consequences
Especially for robotic arms with few degrees of freedom, when the attitude planning is unsuccessful, the goal of avoiding singular positions is often achieved by sacrificing the accuracy of the end pose. However, when performing target capture, fine manipulation, etc., the sacrifice of the end pose accuracy affects the performance of tasks. successfully executed
[0009] Therefore, planning in joint space is acceptable for grasping operations with low path requirements, but when there are strict trajectory requirements, such as welding, complex algorithms are needed to ensure accuracy, and trajectory planning in Cartesian space The accuracy is unmatched by this method based on joint space planning
However, in terms of attitude planning, due to its nonlinearity and coupling, most existing algorithms use interpolation schemes, which have poor flexibility. The singularity of the planned path, even the unsolvable situation

Method used

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  • A Planning Method for Cartesian Space Trajectories of Robots
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  • A Planning Method for Cartesian Space Trajectories of Robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0115] Example 1: Connect five-joint Katana and youBot robotic arms in series

[0116] The characteristics of the mechanical arm: the main control joint c of the two is joint 1, the self-optimized joint so is joint 5, and there is no adjustment joint ft, then th=4, mh=3, bh=2, c=1, see Figure 8 and Figure 9 .

[0117] Step 1: Establish the coordinate system of the connecting rod: establish the Z-axis and X-axis of the connecting rod of the robot according to the D-H method, in which the base coordinate system is fixed to the base, and establish each joint coordinate system in turn, and name the rotation angle of each joint axis are θ 1 , θ 2 , θ 3 , θ 4 , θ 5 ; Let the vertical state be the initial shape.

[0118] Step 2: Taking KUKAyouBot as an example, when a 1 =0 means Katana arm, forward kinematics solution process

[0119] Table 1. Mechanical arm D-H connecting rod parameter table

[0120]

[0121]

[0122]

[0123]

[0124]

[0125] Through for...

Embodiment 2

[0217] Example 2: Series five-joint Pioneer-arm arm and series six-joint PUMA560 arm

[0218] The characteristics of the mechanical arm: the main control joint c of the two is joint 1, and the adjustment joint ft is 4. The latter has a self-optimized joint so and is joint 6. If the former does not exist, then th=4, mh=3, bh=2, c= 1, see Figure 10 and Figure 11 . Among them, the serial six-joint type PUMA560 can be regarded as the expansion of the serial five-joint Pioneer type from the less-degree-of-freedom manipulator, achieving five solutions to six.

[0219]Step 1: Establish the coordinate system of the connecting rod: establish the Z-axis and X-axis of the connecting rod of the robot according to the D-H method, in which the base coordinate system is fixed to the base, and establish each joint coordinate system in turn, and name the rotation angle of each joint axis are θ 1 , θ 2 , θ 3 , θ 4 , θ 5 ; Let the vertical state be the initial shape.

[0220] Step 2: ...

Embodiment 3

[0343] Embodiment 3: Humanoid legs of a six-joint humanoid robot in series and its extended redundant legs

[0344] As there is a situation that can move or rotate along or around the base coordinate system x, y, and z directions respectively, the projected position is affected by the movement along the axial direction. At this time, it is necessary to combine the terminal posture to achieve an exact solution for θ c the goal of. The five-axis linkage CNC machine tool can be regarded as a series robot arm, and there are three joints that move along the x, y, and z directions of the base coordinate system.

[0345]Features: For the humanoid leg of a humanoid robot, the main control joint c is joint 1, the self-optimized joint so is the end joint of the redundant leg, and there is no adjustment joint ft, in which the positions of joints 2 and 3 and joints 5 and 6 coincide respectively. Then th=6, mh=4, bh=2, c=1, see Figure 12 and Figure 13 .

[0346] Step 1: Establish the...

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Abstract

The invention discloses a planning method for a robot's Cartesian space trajectory. The process is as follows: establish a link coordinate system, obtain a positive kinematics equation by a kinematics modeling analysis method; Form and position requirements, solve the rotation angles of the main control joints and intermediate joints; use the kinematics modeling analysis method, use the solved joint rotation angles, find a relational formula containing the variables that have been introduced, and solve the corresponding joint rotation angles; when the task space Trajectory planning is carried out when there are obstacles, and whether it is an accessible pose is determined by the vector geometry method; the continuous time-varying pose coupled with position information is planned, and then the planning task is completed. The present invention avoids generating root-increasing, screening and matching effective solutions; can effectively avoid singular paths, and can avoid and optimize the defects of complex terminal trajectories planned by joint space and the like.

Description

technical field [0001] The invention relates to a planning method for a robot's Cartesian space trajectory, and relates to inverse kinematics and attitude planning. Background technique [0002] The depth and breadth of industrial robot applications have become an important indicator of a country's manufacturing level and technological level. Since the first industrial robot was applied to the production line of General Motor Company in 1962, robot technology has developed rapidly. Especially, under the background of rising labor costs and the concept of "Industry 4.0", the robot revolution is expected to become the "third time" "Industrial Revolution" is an important entry point and growth point. At present, my country has become the world's largest robot market. In May 2015, the State Council issued "Made in China 2025", which clearly proposed to focus on supporting the development and application of robot technology, and listed it as one of the One of the ten focus areas. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10G05B13/04
Inventor 张耀伦
Owner 张耀伦
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