Movement optimizing treatment method for manual teaching robot

A technology for teaching robots and processing methods, applied in the field of manipulators, can solve the problems of trajectory deviation distortion, large load, damage to parts, etc., and achieve the effect of smooth motion trajectory

Active Publication Date: 2016-06-01
FOSHAN CLEV ROBOT
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Problems solved by technology

[0002] The manual teaching robot samples the encoder data to obtain the trajectory data of the robot during manual dragging and teaching. Because the dragging process may be uneven, the load on the robot’s reappearance operation is relatively large, especially when it needs to speed up. Processing, the acceleration after speed-up is the square of the speed-up rat

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  • Movement optimizing treatment method for manual teaching robot
  • Movement optimizing treatment method for manual teaching robot
  • Movement optimizing treatment method for manual teaching robot

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[0034] In the following, the concept, specific structure and technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the drawings to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work belong to The scope of protection of the present invention. In addition, all the connection / connection relations mentioned in the text do not only refer to the direct connection of the components, but refer to a better connection structure by adding or reducing the connection accessories according to the specific implementation. The various technical features in the invention can be combined interactively on the premise of not conflicting with each other.

[0...

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Abstract

The invention provides a movement optimizing treatment method for a manual teaching robot. According to existing robot movement data, an optimizing area is divided, cubic spline curves of rotation tracks are solved, interpolation is carried out for substitution transport, an optimized value is output, and therefore a rotation parameter list of all joint shafts of the robot is adjusted, and the movement track of the robot becomes smoother and more stable.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a method for optimizing the action of a manual teaching robot. Background technique [0002] The manual teaching robot samples the encoder data to obtain the trajectory data of the robot during manual dragging and teaching. Because the dragging process may be uneven, the load on the robot’s reappearance operation is relatively large, especially when it needs to speed up. Processing, the acceleration after speed up is the square of the speed up ratio, which will cause a large load, and even cause excessive trajectory deviation and distortion, and cause damage to parts. The current solution can only require the movement of the teaching staff to be as smooth and smooth as possible, which invisibly raises the threshold for using the manual teaching robot. Problems that need to be solved urgently in the industry. Contents of the invention [0003] Aiming at the deficiencies o...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1638B25J9/1651B25J9/1664
Inventor 倪立新刘建群魏蕴中刘达
Owner FOSHAN CLEV ROBOT
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