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Method and device for storing robot and its motion track data

A motion track and data storage technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of frequent storage and low robot performance, and achieve the effect of improving performance

Active Publication Date: 2021-05-28
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a storage method and device for a robot and its motion trajectory data, to at least solve the technical problem in the prior art that the motion trajectory data of the robot needs to be stored frequently, resulting in low performance of the robot

Method used

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  • Method and device for storing robot and its motion track data
  • Method and device for storing robot and its motion track data
  • Method and device for storing robot and its motion track data

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Experimental program
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Embodiment 1

[0028] According to an embodiment of the present invention, an embodiment of a method for storing robot motion trajectory data is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer system such as a set of computer-executable instructions and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0029] figure 1 It is a flow chart of a method for storing motion trajectory data of a robot according to an embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:

[0030] Step S102, acquiring the moving direction of the robot.

[0031] Specifically, the above-mentioned robot can be an existing industrial robot, which can perform reciprocating motion according to a given working path, and before each movement of the robot, the controller ...

Embodiment 2

[0066] According to an embodiment of the present invention, an embodiment of a storage device for motion trajectory data of a robot is provided.

[0067] Figure 5 is a schematic diagram of a storage device for motion track data of a robot according to an embodiment of the present invention, such as Figure 5 As shown, the device includes:

[0068] The obtaining module 52 is used to obtain the moving direction of the robot.

[0069] Specifically, the above-mentioned robot can be an existing industrial robot, which can perform reciprocating motion according to a given working path, and before each movement of the robot, the controller of the robot can determine the direction in which the robot needs to move according to the working path .

[0070] The determining module 54 is configured to determine a first data stack and a second data stack based on the direction of motion, wherein the first data stack is used to output a plurality of movement trajectory data of the robot, ...

Embodiment 3

[0079] According to an embodiment of the present invention, an embodiment of a robot is provided.

[0080] Figure 6 is a schematic diagram of a robot according to an embodiment of the present invention, such as Figure 6 As shown, the robot includes: a memory 62 and a controller 64 , and the memory 62 includes: a first data stack 622 and a second data stack 624 .

[0081] Wherein, the first data stack 622 is used to output a plurality of motion track data of the robot, and the second data stack 624 is used to input a plurality of motion track data; the controller 64 is connected with the memory 62 for obtaining the motion direction of the robot, based on the motion direction, determine the first data stack and the second data stack, and store a plurality of motion track data read from the first data stack into the second data stack.

[0082] Specifically, the above-mentioned robot can be an existing industrial robot, which can perform reciprocating motion according to a giv...

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PUM

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Abstract

The invention discloses a storage method and device for a robot and its motion track data. Wherein, the method includes: acquiring the motion direction of the robot; determining the first data stack and the second data stack based on the motion direction, wherein the first data stack is used to output multiple motion track data of the robot, and the second data stack is used to Input multiple motion track data; store multiple motion track data read from the first data stack into the second data stack. The invention solves the technical problem in the prior art that the motion track data of the robot needs to be stored frequently, resulting in low performance of the robot.

Description

technical field [0001] The present invention relates to the field of industrial robots, in particular to a method and device for storing robot and motion track data. Background technique [0002] The traditional robot trajectory planning method is to plan the parameters of specific trajectory points by the trajectory generator in the controller according to the given working path (it can be planned in the Cartesian coordinate system or in the joint space coordinate system), Then, the motion angle of each joint is obtained by the inverse solution of robot kinematics, so as to drive each axis of the robot, so that the end tool coordinate system point reaches each planned trajectory point. If the robot repeatedly walks the same path back and forth, if the trajectory points are re-planned by the trajectory planner each time, and then inversely solved by kinematics, it will inevitably cause a large amount of calculation and waste of memory for the robot. [0003] From the trajec...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664
Inventor 余杰先张天翼杨裕才张志波张文欣谢黎李久林韩冰黄侠冯捷閤栓李明
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD