Workpiece following grabbing locus planning method and system used for high-speed sorting system
A sorting system and trajectory planning technology, applied in general control systems, control/regulation systems, program control, etc., can solve the problems of reduced grasping position accuracy, insufficient dynamic characteristics, and difficulty in implementation, so as to improve grasping efficiency, The effect of improving the grasping accuracy
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[0072] Example one
[0073] In order to solve the problems raised by the background art, the present invention discloses a method for planning a workpiece following and grabbing trajectory for a high-speed sorting system. The specific process is as follows: figure 1 As shown, including the following steps:
[0074] Step1: The industrial camera takes pictures to obtain the coordinates of the workpiece, the controller obtains the coordinates of the end of the manipulator, and enters the motion parameters of the manipulator;
[0075] Step2: Determine the position of the workpiece trajectory according to the workpiece coordinates, and determine the current solution interval;
[0076] Step3: According to the current solution interval, determine the interval displacement and time formula, and determine the value range of a single variable in the interval;
[0077] Step4: Determine the grasping trajectory equation according to the upper and lower half of the working range of the workpiece;
[...
Example Embodiment
[0199] Example two
[0200] In this embodiment, a workpiece follow-up and grab trajectory planning system for a high-speed sorting system is disclosed, including a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor executes The following steps are implemented in the program:
[0201] Establish a follow-up trajectory model to obtain workpiece coordinates, robot end coordinates and robot motion parameters respectively;
[0202] Determine the position of the workpiece trajectory according to the workpiece coordinates and determine the current solution interval;
[0203] According to the current solution interval, determine the interval displacement and time formula, and determine the value range of a single variable in the interval;
[0204] Determine the grasping trajectory equation according to the upper and lower half of the working range of the workpiece;
[0205] Substitute the displacement and time formula into the traject...
Example Embodiment
[0207] Example three
[0208] In this embodiment, a computer-readable storage medium is disclosed, on which a computer program is stored, and when the program is executed by a processor, the following steps are performed:
[0209] Establish a follow-up trajectory model to obtain workpiece coordinates, robot end coordinates and robot motion parameters respectively;
[0210] Determine the position of the workpiece trajectory according to the workpiece coordinates and determine the current solution interval;
[0211] According to the current solution interval, determine the interval displacement and time formula, and determine the value range of a single variable in the interval;
[0212] Determine the grasping trajectory equation according to the upper and lower half of the working range of the workpiece;
[0213] Substitute the displacement and time formula into the trajectory equation;
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