Pose synchronization method and device for arc locus motion of robot

Abstract

The invention discloses a pose synchronization method and device for an arc locus motion of a robot. The method includes the steps of acquiring pose data, calculating a quaternion number, establishinga quaternion pose spline curve, performing velocity planning, obtaining each interpolation node, calculating a quaternion pose and an Euler angle pose, and calculating a synthetic pose. The device includes a memory for storing a program and a processor for loading a program to perform the method of the invention. The method and device can solve the problem that it is difficult to collect the center of the circular arc of the robot, and achieve the better approaching to a machining curved surface, so that the posture change of the robot reaches the second-order continuous state, achieves the synchronization of the posture at an intermediate point, achieve the conversion of the planning of the posture into the planning of posture nodes, avoids the tedious process of integrating the pose into angles and then performing planning and re-interpolating to form the nodes, and avoids the condition that the physical meaning of each variable is not clear when the physical quantities are converted. The method and device can be widely used for the technical field of automatic control of robots.

Description

technical field [0001] The invention relates to the technical field of automatic control of robots, in particular to a method and device for synchronizing poses and postures of robots in circular arc trajectory motion. Background technique [0002] Glossary [0003] Teaching: that is, trajectory planning, which mainly includes the following process: First, determine the key points that the robot must pass through to complete a specific job, that is, the teaching points, and record the position and attitude of each teaching point (referred to as "pose") information, and then determine the path type (straight line, circular arc, spline curve and free curve, etc.) The robot executes. [0004] The trajectory planning of the robot plays an important role in determining the stability and high speed of the robot's motion. Robot trajectory planning includes position planning and attitude planning. Both position planning and attitude planning have mature existing algorithms. For e...

AI Technical Summary

Problems solved by technology

Robot trajectory planning includes position planning and attitude planning. Both position planning and attitude planning have mature existing algorithms. For example, position planning includes speed planning and interpolation planning; attitude planning includes Euler angle representation, Rotation matrix representation and quaternion representation, etc., due to the singularity of Euler angles and the orthogonality of the rotation matrix, these two methods are difficult to apply in the face of random paths, while the quaternion pose has no singularity and is easy to interpolate Complementary characteristics, currently commonly used quaternion as a gesture description method

[0005] When the speed of the robot at the teaching point is not zero and the position and attitude of the robot are required to arrive at the teaching point at the same time, it is necessary to plan the position and attitude synchronously, and the problem faced by the synchronous planning of the position and attitude is that it cannot be normalized variable

Especially when the robot is used for the processing of cylindrical and spherical surfaces, it is necessary to plan the position and attitude of the circular arc trajectory synchronously, and it will further face the unique problem in this field, that is, because the feature points of the robot processing trajectory need to pass through the teaching pendant In this way, it is difficult to determine the center position of the arc trajectory; many common processes require the robot actuator to be in a specific posture at the teaching point, and the posture must pass through the teaching point posture under the premise of ensuring the posture continuity, and the posture When reaching the teaching point, the position also needs to reach the teaching point at the same time, which makes it difficult to synchronize the position and posture of the robot, and it is difficult to ensure continuous posture, and there may be singular points

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