Moving foresight method of robot
A robot and motion technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to change speed, and achieve the effect of improving stability and smoothness
Active Publication Date: 2016-01-27
LOTES SHENZHEN
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Problems solved by technology
The current speed forward control technology includes Hermite spline interpolation method, B-spline interpolation method and PVT control method, etc. These speed control methods are the speed interpolation principle of position servo, and they must be accelerated frequently in the actual interpolation movement and deceleration changes, the speed cannot be changed smoothly and stably
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[0036] In order to facilitate a better understanding of the purpose, structure, features, and effects of the present invention, the present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.
[0037] The present invention conforms to the development of automation and intelligence, and aims to further improve the operating performance of the robot, fill its technical deficiencies in art-related fields, save labor costs, and improve efficiency at the same time. It is used for cake plane writing or painting as an example to illustrate six The motion forward-looking method of the degree of freedom robot, of course, can also be used to write or paint on the cake plane with a four-axis robot.
[0038] see figure 1 , the writing system of a six-degree-of-freedom robot, which includes a robot 1, a control terminal 2 and a mounting tool (not shown).
[0039] see figure 1 , the robot 1 is a six-degree-of-freedom robot, and t...
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The invention discloses a moving foresight method of a robot. Words or patterns are converted into a plurality of orderly path points in a Cartesian space coordinate system, a current section and three future orderly sections are formed through the five continuous orderly path points, and a tail end executing mechanism of the robot decouples joints of the robot according to the moving information of the three future sections. Then, according to the characteristic of the coupling action of the joints, comprehensive decoupling is carried out, running time planning, four-element planning (initial speed, end point speed, maximum speed and moving displacement) and track generation are carried out on the current section, and accordingly one-time moving planning can be finished. The speed of the tail end executing mechanism can be increased by 30% according to the obtained result, and stability and smoothness are both improved. Meanwhile, in the later section moving planning, the iterative refinement method is adopted, and it is guaranteed that the system gradually tends to be in an optimal moving state; and the sudden turning situation can be foreseen, the preparation for speed reduction is made in advance, and the speed sudden change is prevented.
Description
【Technical field】 [0001] The present invention relates to a motion look-ahead method of a robot, in particular to a method for determining the motion track of the robot in the current segment according to the motion information of the robot's end-effector in the future three segments. 【Background technique】 [0002] The robot is a multi-joint manipulator or multi-degree-of-freedom robot for the industrial field. In the motion control of the robot, in many cases, it is necessary to solve the joint variables of each joint of the robot according to the given position and attitude of the end effector of the robot, and perform robot Offline programming and trajectory planning. At this time, if it is controlled according to the conventional interpolation method, and the acceleration and deceleration processing before interpolation is only performed between two adjacent line segments, when encountering a sharp turn of the trajectory, etc., a large acceleration (deceleration) speed ...
Claims
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IPC IPC(8): B25J9/00
Inventor 陈晨曹学东姜仁银张志青
Owner LOTES SHENZHEN