Robot small-line-segment proactive planning method based on position and posture restraint

A robot and small line segment technology, applied in the direction of electrical program control, digital control, etc., can solve the problems of low running speed at the end, unconsidered changes in the attitude of the end coordinate system, and failure to meet requirements, etc.

Active Publication Date: 2018-09-28
南京旭上数控技术有限公司
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Problems solved by technology

In conventional trajectory planning, each small line segment is accelerated and decelerated so that the speed at both ends of the line segment is zero. This method not only requires the motor to start and stop frequently, but also leads to the end running speed is always low, which ca

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  • Robot small-line-segment proactive planning method based on position and posture restraint
  • Robot small-line-segment proactive planning method based on position and posture restraint
  • Robot small-line-segment proactive planning method based on position and posture restraint

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Embodiment Construction

[0094] In the following, the present invention will be further described in conjunction with the embodiments.

[0095] Combine figure 1 , The present invention includes the following steps:

[0096] (1) Use offline programming software to generate discrete position and posture data of the robot end coordinate system according to the trajectory path that the robot needs to move, and then obtain the fusion path length L of each segment i

[0097] (2) Determine the number of forward-looking segments n

[0098] (3) For any current segment i, if the number of forward-looking segments n is known, then k=i+n segment end weighted fusion velocity V e i+n =0, then determine the weighted fusion speed V at the end of the current i-th segment e i

[0099] (4) According to Plan the relationship between the weighted fusion speed V(t) and time t of the current segment, divided into 6 cases

[0100] (5) Process the weighted fusion speed V(t) to obtain the weighted fusion speed vector It should be not...

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Abstract

The invention discloses a robot small-line-segment proactive planning method based on position and posture restraint. The small-line-segment proactive planning method is adopted to obtain angular velocity planning data of each joint of a robot, the method is characterized by adopting a fusion velocity vector to take the place of a linear velocity to serve as a planning variable in the proactive planning method, wherein v1, v2 and v3 represent the linear velocities of a tail end coordinate system origin moving along base coordinate X, Y and Z axial directions, and omega1, omega2 and omega3 represent angular velocities of euler angles. The robot small-line-segment proactive planning method based on the position and posture restraint has the advantages that the positions and postures are restrained, the situations that any one of the positions and postures of the tail end coordinate system suddenly changes or the positions and postures of the tail end coordinate system simultaneously suddenly change can be effectively avoided, if the postures are not changed, the linear velocity can reach a set maximum value, the efficiency is high, the posture velocity and linear velocity are fused into an variable, the controlled variable is reduced, the calculation is simpler, and the operating rate is quicker.

Description

Technical field [0001] The invention relates to the field of an industrial robot welding, spraying, assembling and processing curved surfaces and curves according to a certain track. Background technique [0002] In industrial production practice, industrial robots are widely used in welding, spraying, assembly and processing fields. Sometimes the robot is required to run along a specific curve, and it is difficult to obtain the required trajectory path through traditional teaching methods. At this time, it is necessary to use offline programming software to divide the curve into many small straight lines and arcs. In conventional trajectory planning, acceleration and deceleration are performed on each small line segment to make the speed at both ends of the line segment zero. This method not only requires frequent start and stop of the motor, but also results in the end running speed is always low, which does not meet the requirements. [0003] When the end coordinate system is ...

Claims

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19
Inventor 叶彦斐吴乐平程伟国周伯荣窦祥星周坚强祁连祥
Owner 南京旭上数控技术有限公司
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