Track planning method for robot joint space conveyor belt following movement
A technology for robot joint and trajectory planning, applied in two-dimensional position/channel control and other directions, to achieve the effect of smooth joint velocity curve and simple visual algorithm
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Example Embodiment
[0037] The present invention will be further described in detail below in conjunction with the embodiments and the drawings.
[0038] This invention uses SCARA robot (attached Figure 4 Shown) is an experimental object, and its rod parameters are: L1=L2=300cm, L3=200cm, to which the following algorithm proposed by the present invention is applied. The test environment is attached figure 1 As shown, the conveyor belt is installed on the X axis of the Cartesian coordinate system, moving at a constant speed with a speed of 133.33mm / s.
[0039] The entire follow-up process is attached figure 2 As: When the vision module detects the target object, the program judges whether the following conditions are met, and if it is satisfied, it will follow dynamically. The so-called dynamic follow refers to reading the position of the target object and predicting it every 4ms (interpolation time of the control system) , The robot moves towards the predicted position. During the following process,...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap