Industrial robot obstacle avoidance track planning method based on torque control
An industrial robot, trajectory planning technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of low control accuracy, inability to effectively avoid obstacles, and low safety.
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[0065] The present invention will be further described below in conjunction with the accompanying drawings.
[0066] refer to Figure 1 ~ Figure 4 , an obstacle avoidance trajectory planning method for industrial robots based on torque control. First, an accurate robot dynamics model is established by identifying the kinematics and inertia parameters of each joint; Displacement; finally, using the joint angular displacement as the motion distance, a sinusoidal jerk planning method is used to plan the velocity acceleration of each joint. The control torque in the motion path can be solved by substituting the velocity and acceleration into the dynamic model. For collisions that may occur during operation, the present invention uses a method of detecting joint projection interference and then judging the distance of key points for collision prediction: project the robot joints to the normal plane of the velocity vector, and if the joint projection interferes, the joint axis Jud...
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