Motion look-ahead method for robots
A robot and movement technology, 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: 2018-03-16
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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[0031] 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.
[0032] 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.
[0033] 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).
[0034] see figure 1 , the robot 1 is a six-degree-of-freedom robot, and t...
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The invention discloses a robot movement forward-looking method, which converts characters or patterns into a plurality of ordered path points in a Cartesian space coordinate system, and uses five consecutive ordered path points to form the current segment and the future three segments in sequence , using the motion information of the robot’s end-effector in the next three segments, decoupling each joint of the robot separately, and then combining the characteristics of the coupling effect of each joint to perform comprehensive decoupling. Element planning (initial speed, terminal speed, maximum speed and motion displacement) and trajectory generation can complete a motion planning, and the result can make the execution terminal mechanism speed up by 30%, and the stability and smoothness are both improved. At the same time, the iterative optimization method is used in the subsequent motion planning to ensure that the system gradually tends to the optimal motion state, and can predict the sharp turning situation in advance, and prepare for speed reduction in advance to prevent sudden speed changes.
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