Method for controlling tool position and pose of industrial robot through frame description

Abstract

The invention relates to a method for controlling the tool position and pose of an industrial robot through frame description. The method mainly includes the steps of determining a tool coordinate system, determining the framework forms of the tool coordinate system at the head point and the tail point of a program segment, carrying out interpolation calculation of the quaternion of the tool position and pose, working out the framework form of the tool coordinate system after interpolation is conducted, converting the framework form in the tool coordinate system into the framework form of an end effector coordinate system, finding a solution of the robot inverse kinematics and determining the position values of all joints. The method can control the tool position and pose of the robot accurately and reliably, and the problems that interpolation between angles is difficult and singular points exist as eulerian angles and quaternion are adopted for pose description are solved. Besides, by adopting the quaternion for interpolation, the method can realize smooth motion control over the robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to an industrial robot tool pose control method using frame description. Background technique [0002] With the development of industry, the application of robots is more and more extensive. In practical applications, the robot completes various tasks by installing different operating tools at the end. The accuracy of tool parameters directly affects the trajectory accuracy of the robot, so accurate and fast tool pose control is of great significance to the field application of the robot. [0003] To perform tool pose control, the tool pose must first be described. There are three types of tool pose descriptions: quaternion description, Euler angle description, frame description, etc. [0004] The quaternion description is the description of the robot pose using hypercomplex numbers. The "difference" of a quaternion is defined as the angular displacement from one orientation to anoth...

AI Technical Summary

Problems solved by technology

[0007] When controlling tool poses for industrial robots, due to the use of Euler angles and quaternions for pose descriptions, interpolation between angles is difficult, singular points exist, and even illegal. The technical problem to be solved by the present invention is to provide a Tool Pose Control Method for Industrial Robot Using Frame Description

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