A method and system for robot operation motion path planning

Abstract

The invention provides a robot operation motion path planning method and system. The method comprises the steps that the moving timestamp of a first point for operation is calculated through a mastercontroller according to an expected speed, if the moving timestamp is greater than a first special time value and smaller than a second special time value, the controller controls a driver to drive amotor shaft to act; if the moving timestamp is smaller than the first special time value, the controller controls the driver to maintain an original working status; and if the moving timestamp is greater than the second special time value, the controller controls the driver to interpolate N points for operation behind the first point for operation, and accordingly the N points for operation are taken as the first points for operation in a next path planning process for performing moving timestamp comparison, so that new points for operation are interpolated or operation is performed or the original status is maintained so as to rectify a path curve to the next point for operation. The steps are simple, calculation is convenient, it is unnecessary that test information is sent periodicallyand compared with received feedback information for performing position closed loop curve calculation, the communication time is saved, and a more reasonable path is obtained through real-time rectification.

Description

technical field [0001] The present application relates to the technical field of industrial robots, in particular to a method and system for planning a movement path of a robot. Background technique [0002] At present, automation technology is developing rapidly. The robot system in this field is an automatic operation system composed of robots, peripheral equipment and tools. Robots, especially industrial robots, are generally multi-axis mechanical arms, and their axes are mainly composed of gearboxes and servo motors. It also includes many independently moving and rotating parts, and the robot control system is mainly composed of a main controller and a servo drive controller. [0003] At present, leading robot control systems at home and abroad, especially industrial robot control systems, are developing in the direction of further improvement in control accuracy, better security, and more convenient input and output. In order to achieve the purpose of the robot to comp...

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Problems solved by technology

[0006] The present invention aims at the problems that the existing re-planning operation point technology is complicated to realize, the amount of calculation is too large, and the work efficiency is affected, and the present invention provides a robot operation motion path planning method and system to solve the existing re-planning operation point technology. The volume is too large, the communication time is long, and the work efficiency is affected

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