Parameter adapting and calibrating robot NURBS curvilinear motion interpolation method

Abstract

The invention discloses a parameter adapting and calibrating robot NURBS curvilinear motion interpolation method. The method includes the steps of 10, according to input motion parameters, obtaining an NURBS curve expression and a derived function expression adopted in the parameter calibrating process; 20, according to an improved Admas differential equation, estimating a node vector u of motion parameters; 30, according to constraint condition, correcting the node vector u of the motion parameters adaptively; 40, smoothing the motion parameters in the adaptive process; 50, completing posture interpolation through the spherical linear interpolation slerp method to obtain position interpolation coordinates and posture interpolation coordinates; and 60, carrying out positive solution and inverse solution calculation of robots to obtain a joint angle interpolation sequence. According to the method, the problem that the deceleration distance is long at the parts with large curvature change in the NURBS track interpolation process can be effectively solved, and the flexibility of joints of the industrial robots in the motion process can be improved.

Description

Technical field [0001] The present invention relates to the technical field of advanced manufacturing industry of industrial robots such as welding, cutting, spraying, handling and the like, and in particular to a robot NURBS curve motion interpolation method with adaptive densification of parameters. Background technique [0002] The industrial robot control system requires a certain control strategy to enable the robot to run quickly and accurately according to the pre-planned trajectory. Among them, the interpolation algorithm is the core of the software to realize the motion control of the industrial robot, and it is the realization of the complex trajectory planning of the industrial robot. The basis of the algorithm, its performance determines the real-time and accuracy of industrial robot motion, and it is one of the important evaluation indicators for the motion control characteristics of industrial robots. [0003] Traditional interpolation algorithms mainly include linear...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the existing technical defects, solve the problem of low motion stability and low motion accuracy in the complex curve interpolation process in the industrial robot motion trajectory interpolation method based on cubic NURBS curves, and can only plan the deceleration process However, the compliance problem of the acceleration process cannot be fully guaranteed and the required deceleration distance is longer in places with large curvature changes. The present invention provides a robot NURBS curve motion interpolation method with adaptive parameter densification to realize high-speed industrial robots. Efficient, high-precision and flexible trajectory interpolation

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