Solving method for composite limitations of operating space paths of industrial robot

Abstract

The invention provides a solving method for composite limitations of operating space paths of an industrial robot.The method includes the steps that the operating space paths of the industrial robot are set; speed limitation conditions and acceleration limitation conditions of all axes are calculated, and limitation conditions of second derivatives of parameters are calculated according to the speed limitation conditions and acceleration limitation conditions of all the axes; torque limitation conditions of all the axes are calculated according to a rigid body dynamic model and the rotating part paths, and limitation conditions of first derivatives of the parameters are calculated according to the torque limitation conditions; speed limitation conditions and acceleration limitation conditions of operated workpieces are calculated according to the six-dimensional speed spinor of operating space of the industrial robot, and limitation conditions for the parameters are calculated according to the speed limitation conditions and the acceleration limitation conditions; composite limitation conditions for the industrial robot are unified on calculation on limitation conditions of the path parameters.Multiple limitation conditions of joint space and the operating space are effectively solved, and the composite limitations are uniformly shown.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method for solving compound constraints of industrial robot operation space paths. Background technique [0002] Trajectory planning of industrial robot end effector plays an important role in industrial robot control system. Trajectory planning generates the command value of the servo driver, thereby controlling the motors of each axis of the robot to produce corresponding movements, and the movement of each axis constitutes the movement of the operating space of the end effector. If the end effector is to produce the motion expected by the user, such as tracking the curve specified by the user, the trajectory planning must meet the input requirements of the servo driver and the motor, mainly reflected in the following: the output of the trajectory planning cannot make the motors of each axis overspeed; The motor exceeds the allowable maximum torque; each axis motor...

AI Technical Summary

Problems solved by technology

[0004] However, the existing method has the following disadvantages: expressing the operation space path in the joint space with a spline curve will inevitably be different from the original path, especially when the sampling points are large, the difference is particularly obvious

However, this technical solution is still based on joint space for path planning, using interpolation to constrain the trajectory of the end of the manipulator, which cannot reflect the constraints of the operating space

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