Industrial robot trajectory planning method avoiding cable interference constraint

An industrial robot and trajectory planning technology, which is applied to manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as cable interference

Active Publication Date: 2018-01-05
XIANGTAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above problems, the purpose of the present invention is to disclose an industrial robot trajectory planning method that avoids cable interference constraints, solves the cable interference problem in the existing industrial robot

Method used

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  • Industrial robot trajectory planning method avoiding cable interference constraint
  • Industrial robot trajectory planning method avoiding cable interference constraint
  • Industrial robot trajectory planning method avoiding cable interference constraint

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specific Embodiment approach

[0056] The process of solving the multi-objective trajectory planning method for an industrial robot with cables based on an intelligent optimization algorithm, the specific implementation steps are as follows:

[0057] Step 1. Establish the robot kinematics model and obtain the positive and negative solutions of the industrial robot;

[0058] The kinematics model is to obtain the D-H parameter information by establishing the coordinate system of each connecting rod, and deduce the positive and negative kinematic solutions according to the transformation relationship of the coordinate system.

[0059] Step 2. According to the installation position of the cable, the coordinate system of the mobile end and the fixed end of the cable is established, and the homogeneous transformation matrix of the mobile end and the fixed end of the cable is obtained according to the Cartesian space coordinate transformation relationship.

[0060] Step 3. Determine the optimization objective and ...

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Abstract

The invention provides an industrial robot trajectory planning method avoiding cable interference constraint, and belongs to the field of trajectory planning. The method comprises the steps of industrial robot kinematic model building, cable model building, optimum jumping point solving and interpolation. For cable mathematical model building, a cable mathematical model building method is invented; for optimum jumping point solving, a jumping point solving method avoiding the cable interference constraint in the process of solving cable-carrying robot trajectory planning on the basis of an intelligent optimization algorithm is invented; for trajectory planning, an interpolation method through a jumping point is invented. According to the technical scheme, an industrial robot motion trajectory which is short in motion time, stable and capable of avoiding cable interference constraint can be obtained, the cost is lowered, and the safety of the industrial robot in the motion process is improved.

Description

technical field [0001] The invention relates to the field of trajectory planning of robots, and more specifically relates to a trajectory planning method of an industrial robot under the constraint of avoiding cable interference. Background technique [0002] With its low cost, high efficiency, and high flexibility, industrial robots are used in many aspects of industrial manufacturing such as welding, assembly, handling, grinding, etc., and become the work unit of intelligent manufacturing systems, digital factories, and computer integrated manufacturing systems. In order to meet the needs of different types of work tasks, the end of the industrial robot is usually connected to a flexible cable containing air pipes, wires, water pipes and other devices to install various actuators. [0003] Robot trajectory planning refers to calculating the expected trajectory of the robot and obtaining the position, velocity, acceleration, and jerk of each joint during the movement proces...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 李明富童忠文肖全玉
Owner XIANGTAN UNIV
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