Industrial robot Cartesian space trajectory geometric smoothing method

An industrial robot and Cartesian space technology, applied in two-dimensional position/channel control and other directions, can solve problems such as sudden changes in curvature and acceleration

Active Publication Date: 2016-05-11
苏州科诺机器人有限责任公司
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Problems solved by technology

However, the special curve often has a sudden change in curvature at the junction with

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  • Industrial robot Cartesian space trajectory geometric smoothing method
  • Industrial robot Cartesian space trajectory geometric smoothing method
  • Industrial robot Cartesian space trajectory geometric smoothing method

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Embodiment Construction

[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0056] Such as figure 1 As shown, the geometric smoothing method for the Cartesian space trajectory of an industrial robot in the embodiment of the present invention includes the following steps:

[0057] Step S1, collect the geometric curves corresponding to the two trajectories before and after the industrial robot in the turning area, and parameterize the geometric curves corresponding to the two trajectories, including: parameterizing the length of the straight line in space and the arc length in space in the geometric curve ...

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Abstract

The invention provides an industrial robot Cartesian space trajectory geometric smoothing method. The method comprises the following steps: carrying out parameterization on geometrical curves corresponding to front and back two trajectories in a turning area; calculating parameter values of the geometrical curves of the front and back two trajectories in a turning area connecting point; judging whether the geometrical curves surpass preset limit conditions according to the parameter values of the geometrical curves of the front and back two trajectories in the turning area connecting point and turning radius, and if so, cutting off the geometrical curves; generating a turning area space curve by utilizing the Bezier curve generation principle; calculating terminal velocity and acceleration velocity of the geometrical curves; and generating a turning area trajectory by utilizing a one-dimensional velocity planning algorithm and velocity planning boundary conditions. The method enables the front and back two trajectories of an industrial robot in the turning area to realize geometric superposition smoothing to ensure curvature continuity of the geometrical curves corresponding to the trajectories; and velocity planning is carried out on the smoothed geometrical curves to achieve the purpose of speed control of the turning area.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a geometric smoothing method for Cartesian space trajectories of industrial robots. Background technique [0002] The motion of an industrial robot in its workspace is composed of trajectories generated by multiple motion commands input by the user. The trajectory (such as straight line and circular arc) generated by each motion command is smooth, and the speed at the endpoint of the trajectory is zero, which is equivalent to the robot needing to stop when moving from one trajectory to the next trajectory, that is, turning, otherwise it will cause violent shaking. If the user does not require the position of the turning point of the two trajectories, the user can smoothly transition from one trajectory to the other without passing through the turning point. [0003] The existing Cartesian space trajectory smoothing methods mainly fall into the following two categories...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 韩建欢毋琦
Owner 苏州科诺机器人有限责任公司
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