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Method and system for controlling robot to swerve

A technology of robots and control points, applied in the field of robots, can solve the problems of low flexibility, not smooth enough trajectory, and inability to apply three-dimensional space tangents, and achieve the effect of high flexibility

Active Publication Date: 2017-10-20
国机智能技术研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. The trajectory is not smooth enough and lacks versatility;
[0005] 2. Low flexibility and high complexity;
[0006] 3. It cannot be applied to two trajectories whose tangent lines do not intersect in three-dimensional space

Method used

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  • Method and system for controlling robot to swerve
  • Method and system for controlling robot to swerve
  • Method and system for controlling robot to swerve

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Embodiment 1, if both the first track and the second track are linear tracks, the first track is marked as line1, the second track is marked as line2, and the starting point coordinates and end point coordinates of the first track line1 are respectively ( 0, 0, 0) and (0, 2, 0), the starting point coordinates and end point coordinates of the second trajectory line2 are (0, 2, 0) and (2, 2, 2) respectively, and the retraction length parameter is set to : curTurnL=0.4, the proportional coefficient is set to: α=β=0.5. The calculation method of the four control points is as follows: the backend of line1 rolls back curTurnL to (0,1.6,0), which is the first control point. The front end of line2 retracts curTurnL to (0.2*1.41421,2,0.2*1.41421), which is the fourth control point. The second control point is α*curTurnL at the rear end of line1 along the tangent direction, and the coordinates are (0,1.8,0). The third control point is β*curTurnL where the front end of line2 move...

Embodiment 2

[0042] Embodiment 2, if the first track is an arc, the second track is a straight line. The first trajectory arc arc(R=2; X=Rcos(t); Y=Rsin(t); t=0:π / 2) and the second trajectory (2,0,1), (3.2, 1.5, 1.6) intersect. Set the return length parameter as: curTurnL=1, and the proportional coefficient as: α=β=1 / 3. The four control points obtained after calculation are detailed in Figure 10 .

[0043] In the embodiment of the present invention, the selection of control points between two straight-line trajectories, or between a straight-line trajectory and an arc-curve trajectory is realized, so as to realize smooth turning of the robot.

[0044] see Figure 4 , Figure 4 It is a schematic flowchart of a method for controlling a robot to turn according to another embodiment of the present invention.

[0045] Such as Figure 4 As shown, Step 3 specifically includes: Step 31: According to the first trajectory, the trajectory corresponding to the cubic Bezier curve and the second...

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Abstract

The present invention discloses a method and system for controlling a robot to swerve and belongs to the robot technical field. The method comprises the following steps that: step 1, the retraction length parameter and proportion coefficient of the robot in swerving are set; step 2, the cubic Bezier curve of the robot in swerving is obtained according to the coordinates of a first trajectory, a second trajectory, the retraction length parameter and the proportion coefficient; and step 3, the robot is controlled to shift to a trajectory corresponding to the cubic Bezier curve from the first trajectory, and further shift to the second trajectory from the trajectory, so that the robot can swerve. According to the method and system of the invention, the cubic Bezier curve is built, so that the robot can operate to the trajectory corresponding to the cubic Bezier curve from the first trajectory and then operate to the second trajectory so as to swerve, and the operation of the robot can be completed fast and smoothly.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and system for controlling a robot to turn. Background technique [0002] With the continuous development of science and technology, the development and application of robots has become an inevitable trend. Robots have also been applied to fields such as industry, and have brought positive application effects. Whether it is a robot or an industrial robot, the robot itself presents multi-degree-of-freedom and multi-task development, and the accurate and efficient algorithm for realizing the turning area of ​​the robot has become a research hotspot. At present, scholars at home and abroad have carried out in-depth research on the modeling method of the robot turning area, including the vector interpolation method, which can be applied to most of the turning area problems; the most classic modeling method is the arc algorithm, the circle The arc algorithm hopes to pass the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0219
Inventor 张文前
Owner 国机智能技术研究院有限公司
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