Track planning and control method of free curve of industrial robot based on double quaternions

A technology of industrial robots and control methods, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve the problems of Euler angle universal deadlock, the inability to determine the rotation axis by the equivalent axis method, and a large amount of calculation.

Inactive Publication Date: 2016-07-20
NANJING INST OF TECH
View PDF8 Cites 33 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Moreover, in robot motion control, the basic straight line and arc trajectory curves can no longer meet the application requirements of industrial processing, and the commonly used B-spline curves, Bézier curves, and Clothoid curves cannot be described with an accurate and unified representation method. Curves and Free Curves
[0003] Usually, the expected trajectory of the robot is given a series of Cartesian or joint space points in advance, and the speed passing through the point or the time between two points is given, and the maximum speed allowed by the robot movement is also limited, and then respectively Realize the position trajectory planning and attitude trajectory planning

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Track planning and control method of free curve of industrial robot based on double quaternions
  • Track planning and control method of free curve of industrial robot based on double quaternions
  • Track planning and control method of free curve of industrial robot based on double quaternions

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0077] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, but not to limit the protection scope of the present invention.

[0078] The concept of free curve is proposed to describe more complex geometric shapes in order to improve the processing efficiency and precision of industrial robots. The Non-Uniform Rational B-Spline (NURBS, Non-Uniform Rational B-Spline) curve can accurately see the distribution characteristics of the control points of the curve shape, and can effectively solve the shortcoming that the value points cannot be evenly distributed.

[0079] Quaternion is a new mathematical modeling tool based on Clifford algebra, which is developed on the basis of quaternion. The position and attitude in Cartesian space can be converted to four-dimensional space by using double quaternion, which can not only e...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a track planning and control method of a free curve of an industrial robot based on double quaternions. Control point data of the Cartesian space are adopted for describing the contour of the space free curve, and meanwhile an Adams differential equation is adopted for NURBS interpolation compacting calculation, and interpolation speed is adjusted in a self-adaption manner with the maximum contour error and maximum acceleration as constraint conditions; and then the position and posture of the robot in the Cartesian space are converted to a four-dimensional space through a short linear segment obtained through interpolation by adopting the double quaternions, the motion trail of the robot is subjected to spherical linear interpolation through hyperspherical rotation, and finally the track of the NURBS free curve of the industrial robot is planned.

Description

technical field [0001] The invention relates to a trajectory planning control method of an industrial robot free curve based on a double quaternion, and belongs to the technical field of robot trajectory planning. Background technique [0002] Modern manufacturing has higher and higher requirements for robot performance, and the trajectory planning algorithm of the robot in the task space occupies an important position in the robot control system, which directly affects the performance and efficiency of the robot's end motion. Moreover, in robot motion control, the basic straight line and arc trajectory curves can no longer meet the application requirements of industrial processing, and the commonly used B-spline curves, Bézier curves, and Clothoid curves cannot be described with an accurate and unified representation method. curves and free curves. [0003] Usually, the expected trajectory of the robot is given a series of Cartesian or joint space points in advance, and th...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 李宏胜汪允鹤
Owner NANJING INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

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