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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.

Active Publication Date: 2017-09-08
ZHEJIANG UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing industrial robot trajectory planning methods, such as low control accuracy, inability to effectively avoid obstacles, and low safety, the present invention provides a torque-based robot with high control accuracy, effective obstacle avoidance, and high safety. Controlled industrial robot obstacle avoidance trajectory planning method

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  • Industrial robot obstacle avoidance track planning method based on torque control
  • Industrial robot obstacle avoidance track planning method based on torque control
  • Industrial robot obstacle avoidance track planning method based on torque control

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Embodiment Construction

[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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Abstract

The invention discloses an industrial robot high-speed high-precision obstacle avoidance track planning method based on torque control. The method comprises the following steps that 1, a robot dynamics model is established by identifying kinematics and inertial parameters of all joints; 2, displacements of all joint angles are obtained through inverse kinematics solution when a robot moves to an end point; 3, the displacements of the joint angles are adopted as motion tracks, speeds and accelerated speeds of all joints are planned through a sine jerk planning method, the speeds and the accelerated speeds are substituted into the dynamics model so as to solve control torque in the motion tracks; 4, collision detection is carried out by adopting a method of judging the distance between key points after detecting the interference conditions of joint projections; and 5, when it is detected that the collision may occur, an impedance accelerated speed is applied to the dangerous joints to reduce the motion speed of the joints so as to achieve the obstacle avoidance. The industrial robot obstacle avoidance track planning method based on the torque control has the advantages that the control precision is high, the obstacle avoidance is effectively realized, and the safety is high.

Description

technical field [0001] The invention relates to a trajectory planning method for an industrial robot, in particular to an obstacle avoidance trajectory planning method for an industrial robot. Background technique [0002] In the past ten years, the manufacturing and control technology of industrial robots has developed rapidly, and has been widely used in the automobile manufacturing industry and can achieve high control accuracy. With the increase of labor costs in our country, the level of automated production in various industries urgently needs to be improved under the requirements of "machine substitution" and industrial upgrading. The application of industrial robots can avoid repetitive and tedious manual labor and achieve high stability and high precision production, thereby greatly improving work efficiency. Most of the path and trajectory planning for a single robot can be completed through manual teaching, so more and more factories use programmable industrial r...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 陈教料王佳才张立彬胥芳鲍官军
Owner ZHEJIANG UNIV OF TECH
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