A method and device for Cartesian trajectory planning of a five-axis bending robot
A technology of trajectory planning and robotics, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex drive mechanism, slow movement speed, and insufficient dexterity, and achieve the goal of simplifying the drive mechanism, improving accuracy, and increasing dexterity Effect
Active Publication Date: 2017-09-12
SHANGHAI STEP ELECTRIC +1
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Problems solved by technology
[0003] However, although the current types of robots have enough degrees of freedom, due to the excessive number of joints and the overly complicated drive mechanism, they are not dexterous enough, have slow movement speed, and poor accuracy.
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[0029] In order to make the object, technical solution and advantages of the present invention clearer, various embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in each claim of the present application can be realized.
[0030] The first embodiment of the present invention relates to a method for Cartesian trajectory planning of a five-axis bending robot. Its process is as follows figure 1 As shown, the details are as follows:
[0031] Step 101, determine the Cartesian position and trajectory of the start and end points of the robot.
[0...
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The invention relates to the field of robot control and discloses a method and a device used for planning the Descartes trajectory of a five-axis bending robot. According to the invention, the method comprises the following steps: determining the Descartes position and trajectory of the starting point and ending point of a robot, wherein the Descartes position includes position information and gesture information based on a coordinate system; determining a method for acquiring a Descartes interpolation point of the trajectory according to judgment on whether the trajectory is a bending follow-up trajectory, if so, directly acquiring the Descartes interpolation point of the trajectory, and if not, acquiring the Descartes interpolation point by utilizing the interchange of the Descartes position and a mixing position; generating a robot joint interpolation point according to the acquired Descartes interpolation point; and planning the Descartes trajectory of the five-axis bending robot according to the generated joint Descartes interpolation point. According to the implementation manner of the invention, the five-axis robot can realize a bending project, so that the application scene of the five-axis robot can be expanded.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a method for Cartesian trajectory planning of a five-axis bending robot. Background technique [0002] In traditional factories, this kind of work is basically done manually, which has problems such as high labor intensity, time-consuming, boring, bad working environment, easy to cause pollution, and will increase the cost of the enterprise. Therefore, in these fields, robots are required to carry out operations such as handling, welding, and spraying of objects accurately and quickly. A complete bending process includes the process of taking material, feeding material, following bending, returning material and discharging material. In the robot bending project, the six-axis robot is a kind of serial robot. Because it can move freely in three-dimensional space, it can accurately and quickly perform a large number of repetitive tasks such as handling, welding, and spraying. Usually,...
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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 周朔鹏熊圆圆邓洪洁乔正王效杰
Owner SHANGHAI STEP ELECTRIC