Method for industrial robot programming route diagnosis and speed optimization

A technology of industrial robots and programming speed, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problem that the robot cannot reach the programming speed, and achieve the effect of shortening the running time and running smoothly

Active Publication Date: 2018-09-28
HUAZHONG UNIV OF SCI & TECH +1
View PDF6 Cites 12 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In actual operation, the robot sometimes cannot reach the programmed

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for industrial robot programming route diagnosis and speed optimization
  • Method for industrial robot programming route diagnosis and speed optimization
  • Method for industrial robot programming route diagnosis and speed optimization

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0027] refer to Figure 1 to Figure 7 , a method for trajectory diagnosis and speed optimization of industrial robot programming, comprising the following steps:

[0028] (1) Obtain the original programming code of the motion trajectory of the industrial robot, establish an industrial robot model, and obtain the attribute parameters of the industrial robot;

[0029] (2) Discretize the motio...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention belongs to the field of industrial robots, and discloses a method for industrial robot programming route diagnosis and speed optimization. The method comprises the following steps that (1) an original programming code of the moving trail of an industrial robot is obtained, an industrial robot model is built, and an attribute parameter of the industrial robot is obtained; (2) the moving trail is discretized, line segments with the same arc length are formed, and a series of discrete points are obtained; (3) joint coordinates of the discrete points are inversely obtained; (4) a joint speed, an accelerated speed and a moment of force of each discrete point are calculated; (5) areas which are not up to the programming speed are diagnosed and are subjected to speed optimization; and (6) the programming code after speed optimization is output, wherein compared with the original programming code, programming points are added and programming speed is optimized. The speed optimization of the programming trails is achieved, and therefore the programming code satisfying robot dynamics is obtained. When the programming code is in computer operation, running time of the robot is shortened, and running of the robot is stabler.

Description

technical field [0001] The invention belongs to the field of industrial robots, and more specifically relates to a method for diagnosing and optimizing the programming trajectory of an industrial robot. Background technique [0002] The programming of industrial robots has two methods: teaching programming and offline programming. Teaching programming is that the operator holds the teaching pendant, manually controls the end of the robot to reach the specified posture and position, records the robot pose data and writes the robot programming instructions. Offline programming is to build a virtual 3D working scene on CAD\CAM software, and then the software can automatically generate robot programming codes according to the size, shape, and material of the parts to be processed, and cooperate with some operations of the software operator. [0003] Regardless of the programming method, when programming, most of the time, only the joint limit of the industrial robot is consider...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 罗健朱志红黄石峰
Owner HUAZHONG UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap