Motion control system for oblique wrist spray robot and method thereof

Abstract

The invention discloses a motion control system for a oblique wrist spray robot and a method thereof. The motion control method includes the steps that: reading each joint value of the oblique wrist spray robot, and recording the Cartesian space information of the oblique wrist spray robot through a positive kinematics solution, and storing the Cartesian space information; during the execution ofthe work process, solving the trajectory by analyzing the stored Cartesian space information and obtaining a feasible solution of the joint value of each joint by an inverse solution algorithm, and further according to the stored Cartesian space information, the solution is filtered to obtain the only suitable inverse solution result, and then the oblique wrist spray robot is controlled to move tothe target position corresponding to the inverse solution result. According to the motion control method, the problem of the joint space and the Cartesian space vector mapping of the oblique wrist spray robot can be solved, the high precision and real-time performance of the robot motion planning process can be ensured, and the inverse kinematics of the end oblique wrist without closed solution can be solved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a motion control system and a method for an oblique wrist spraying robot. Background technique [0002] Existing kinematic methods for oblique wrist spraying robots all have disadvantages such as poor efficiency, cumbersome calculations, and no perfect solution to multi-solution problems. For example, Wu’s method takes more than 100s for near-symbolic calculation, which cannot be used in the robot’s real-time operating system; numerical iteration method, the calculation result is directly related to the selection of the initial value, and there is no means to properly select the initial value to obtain the kinematic inverse solution result In order to get the desired result; the elimination method finally needs to solve all the eigenvalues ​​of the high-order matrix and their corresponding eigenvectors, and for this matrix, the overhead for each eigenvalue operation is...

AI Technical Summary

Problems solved by technology

[0004] The main technical problem to be solved by the present invention is to provide a motion control system and method of a skewed wrist spraying robot, which can solve the problem of vector mapping between the joint space and the Cartesian space of the skewed wrist spraying robot, and ensure the high speed of the robot motion planning process. Accurate and real-time, solve the inverse kinematics non-closed solution problem caused by the oblique wrist at the end

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