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Multi-joint robot track planning method under constraint of safety space

A multi-joint robot and safe space technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of not caring about the safe working space range, heavy teaching tasks, and low teaching efficiency, so as to improve teaching efficiency , avoid interference problems, reduce the number of effects

Active Publication Date: 2016-03-23
常州汉迪机器人科技有限公司 +1
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Problems solved by technology

In the traditional manual teaching method, the point-to-point movement of the robot only needs to set the target point and interpolation method, and does not care about the intermediate path or the safe working space range. Re-teaching, repeated teaching and trajectory verification will cause heavy teaching tasks, more teaching points and low teaching efficiency

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  • Multi-joint robot track planning method under constraint of safety space
  • Multi-joint robot track planning method under constraint of safety space
  • Multi-joint robot track planning method under constraint of safety space

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the embodiments according to the accompanying drawings.

[0023] as attached image 3 The multi-joint robot trajectory planning method under the safety space constraint of the present invention comprises the following steps:

[0024] (1) Set up a safe space: the installation position of the robot and the layout of the surrounding equipment and environment have been determined, and the space in which the robot can work safely is determined by means of measurement or modeling, and then the safe working space range of the robot is set using the teaching pendant ;

[0025] (2) Manual teaching: According to the requirements of the robot's task, the teaching of the robot's trajectory is carried out;

[0026] (3) Interference check: When the robot performs point-to-point motion, it plans the path between the two points according to the pose of the current point A, the pose of the target point B, and th...

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Abstract

The invention discloses a multi-joint robot track planning method under constraint of a safety space and belongs to the technical field of robot track planning. The method comprises the following steps that (1) the safety space is set; (2) manual demonstration is conducted; (3) interference checking is conducted; and (4) motor execution is conducted. By means of the multi-joint robot track planning method under constraint of the safety space, the number of demonstration points is reduced to a great extent, so that the task load of demonstration work is relieved, the manual demonstration efficiency is improved, and meanwhile the interference problem caused by an uncertain middle path of point-to-point motion is avoided.

Description

technical field [0001] The invention relates to a robot task space trajectory planning method, in particular to a multi-joint robot trajectory planning method under the constraint of a safe space, and belongs to the technical field of robot trajectory planning. Background technique [0002] As one of the greatest inventions of human beings in the 20th century, robotics has made great progress after more than 50 years of development since it came out in the 1960s. Robots can be roughly divided into industrial robots, service robots and special robots according to the field; special robots include aerospace robots, unmanned aerial vehicles, military robots, etc.; service robots include sweeping robots, emotional escort robots, medical robots, and entertainment and leisure robots; industrial robots It has become an indispensable core equipment in the modern manufacturing industry. It can be divided into welding robots, palletizing robots, moving vehicles (AGV), sorting robots, ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 胡建军肖文皓肖硕彬
Owner 常州汉迪机器人科技有限公司
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