A trajectory planning method for industrial robot obstacle avoidance based on torque control

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...

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

Images