Speed planning method during NURBS curve interpolation of industrial robot

An industrial robot, speed planning technology, applied in the direction of instruments, digital control, control/regulation systems, etc., can solve the problems of robot impact, robot end feed speed adaptive change, vibration, etc., and achieve the effect of reducing impact

Inactive Publication Date: 2016-07-20
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0004] In recent years, an interpolation method based on the curve parameter equation of the parameter u has appeared in China. However, in terms of speed planning methods, uniform or trapezoidal acceleration and deceleration speed planning is mainly used. This method ca

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  • Speed planning method during NURBS curve interpolation of industrial robot
  • Speed planning method during NURBS curve interpolation of industrial robot
  • Speed planning method during NURBS curve interpolation of industrial robot

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[0059] The purpose of the present invention will be further described in detail through specific examples below, and the examples cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following examples.

[0060] A speed planning method during NURBS curve interpolation of an industrial robot, comprising steps:

[0061] S1, establish the characteristic equation of NURBS curve based on parameter u and feed rate v;

[0062] S2. Establishing the velocity constraint relationship of the NURBS curve based on geometric constraints such as centripetal acceleration and bow height error;

[0063] S3. According to the monotonicity of the feed speed change at the end of the robot, the NURBS curve is processed in forward-looking speed segments to obtain the final set of interpolation parameters for segment points, and complete the speed planning process.

[0064] Specifically, the step S1 specifically includes:

[0065] S11. Es...

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Abstract

The invention relates to a speed planning method during NURBS curve interpolation of an industrial robot. The method comprises that (1) a characteristic equation, based on a parameter u and a feed velocity v, of an NURBS curve is established; (2) a velocity constraint relation, based on the geometrical constraints as centripetal acceleration and chord-height error, of the NURBS curve is established; and (3) according to the fact that the feed speed in the robot end changes monotonously, predictive speed segmentation is carried out on the NURBS curve to obtain a segment point interpolation parameter set, and a speed planning process is completed. The speed planning method is especially suitable for the NURBS curve in which multiple teaching points are known, a movement track of the robot end needs to be smooth, and the movement speed and acceleration of the robot end cannot change abruptly; the geometric characteristics of the NURBS curve are taken into consideration when speed limitation is established; the curve is segmented predictively according to the monotonicity of speed change; and impact on the robot during NURBS curve interpolation is greatly reduced.

Description

technical field [0001] The invention relates to the application field of six-axis industrial robots, in particular to a speed planning method for industrial robots during NURBS curve interpolation. Background technique [0002] NURBS is a widely used spline curve. It can not only be used to describe free curves and surfaces, but also provide a unified expression for various geometries including conic curves and surfaces. The traditional application of NURBS in the path interpolation of industrial robots mainly adopts the method of approximating the curve with a small straight line. This method has the disadvantages of low trajectory accuracy, large amount of calculation, slow interpolation speed, and uneven trajectory. [0003] The NURBS curve path interpolation process of a six-axis industrial robot needs to meet the following two requirements: the curve trajectory generated according to the teaching points is smooth and has no sudden changes, and the number of teaching poi...

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Application Information

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IPC IPC(8): G05B19/4103
CPCG05B19/4103G05B2219/34096
Inventor 张铁龚文涛
Owner SOUTH CHINA UNIV OF TECH
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