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Solving Method for Composite Constraints of Industrial Robot Manipulation Space Path

An industrial robot and operating space technology, applied in the direction of instruments, digital control, program control, etc., can solve the problems that cannot reflect the constraints of the operating space, obvious differences, etc., and achieve the effect of avoiding path tracking errors

Active Publication Date: 2018-05-29
珞石(北京)科技有限公司
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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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  • Solving Method for Composite Constraints of Industrial Robot Manipulation Space Path
  • Solving Method for Composite Constraints of Industrial Robot Manipulation Space Path
  • Solving Method for Composite Constraints of Industrial Robot Manipulation Space Path

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Embodiment Construction

[0051] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote 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.

[0052]The invention proposes a method for solving compound constraints of an industrial robot's operating space path. The method uses a unified parameter to parameterize the operating space path, and unifies the robot's compound limiting condition on the parameter.

[0053] like figure 1 As shown, the method for solving the compound restriction of the industrial robot operation space path in the embodiment of the present invention includes the following steps:

[0054] Step S1, setting the operation space path of the ...

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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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/4103
CPCG05B19/4103G05B2219/34169
Inventor 韩建欢韩峰涛张雷
Owner 珞石(北京)科技有限公司
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