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Joint space trajectory optimization method for surface modification robot

A technology of robot joints and surface modification, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex motion characteristics of surface-modified robots and difficult to describe the motion path of the end of surface-modified robots.

Active Publication Date: 2018-08-14
SUZHOU INST OF INDAL TECH
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Problems solved by technology

Due to the redundant nature of the surface-modified robot, there are countless optimized inverse solutions in the joint space, which makes the motion characteristics of the joint space of the surface-modified robot very complex, so it is difficult to describe the motion path of the end of the surface-modified robot

Method used

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  • Joint space trajectory optimization method for surface modification robot
  • Joint space trajectory optimization method for surface modification robot
  • Joint space trajectory optimization method for surface modification robot

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Embodiment Construction

[0058] In the following, the method for optimizing the joint space trajectory of the surface modification robot proposed by the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. According to the following description and claims, the advantages and features of the present invention will be clearer. It should be noted that the drawings all adopt a very simplified form, which are only used to conveniently and clearly assist in explaining the embodiments of the present invention.

[0059] See figure 1 , A method for optimizing the joint space trajectory of a surface-modified robot, including the following steps;

[0060] S1: Establish a surface modification robot model;

[0061] See figure 2 The surface modification robot model is a seven-degree-of-freedom execution robot model, the first joint is a moving joint, and the rest are rotating joints.

[0062] S2: Determine the surface modification track parameters,

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Abstract

The invention discloses a joint space trajectory optimization method for a surface modification robot. The joint space trajectory optimization method for the surface modification robot comprises the following steps of 1, establishing a surface modification robot model; 2, determining the surface modification trajectory parameters, specifically, the surface modification trajectory parameters include the surface modification trajectory, the surface modification speed and the surface modification time span; 3, sampling trajectory spots, specifically, reference spots are selected from the surfacemodification trajectory at equal time intervals; 4, carrying out inverse kinematics solving according to the selected reference spots to obtain a joint acceleration solution set of the surface modification robot; and 5, obtaining the optimal solution of the joint acceleration of the robot by using a genetic algorithm according to the joint acceleration solution set of the surface modification robot.

Description

Technical field [0001] The invention relates to the field of surface modification of materials by surface modification robots, and in particular to a method for optimizing joint space trajectories of surface modification robots. Background technique [0002] In the actual surface modification process, the trajectory on the working base of the surface modification robot is known, so the trajectory planning of the surface modification robot is mainly for the trajectory planning in the joint space, so that the end motion trajectory of the robot is consistent with the known The trajectory of the working base surface is consistent. [0003] The trajectory planning in the joint space selects a certain joint position point for each motion joint of the surface modification robot, generally including the starting point, the end point and the intermediate point, and then connects these points by constructing a smooth function to describe the motion of each joint Happening. Due to the redun...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 温贻芳杨扬徐朋丁琳
Owner SUZHOU INST OF INDAL TECH
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