A method for extracting robot path points on complex surfaces based on curvature features of fitted curves
A technology of fitting curves and extraction methods, which is applied in the field of robot path point extraction on complex surfaces, to achieve uniform and constant running speed, ensure approximation accuracy, and simplify robot commands
Active Publication Date: 2020-09-04
WUHAN HUAWEI SECIAL PURPOSE AUTOMOBILE DETECTION
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Problems solved by technology
[0007] The technical problem to be solved by the present invention is to aim at the defects of equidistant path point picking without considering the curvature of the curve in the prior art, to provide a way point picking by curve fitting, and according to the setting conditions such as curve curvature characteristics, so that Method and system for extracting robot path points so that robot motion can better meet the shape characteristics of complex and complex surfaces
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example 1
[0060] Assume: there is a complex surface S2, and the current function surface S1 is used to perform Boolean operations to intersect with it to obtain a series of path curves L, which are composed of L1, L2, ... Ln, where n is the discrete distance;
[0061] Take one of the path curves L1, such as figure 1 shown.
[0062] Put L1 into the coordinate system and perform equidistant dispersion to obtain the coordinates of the discrete point Pi as follows:
[0063] (3,5.76), (6.22,13.37), (9.71,20), (13.54,25.54), (19.02,30.69), (25.45,33.36), (34.84,32.66 ), (45.95,28.66 ), (51.77 ,26.81), (61,26.54), (66.11,28.71), (71.17,33.12), (75.47,39), (80,47.66), such as Figure 5 shown.
[0064] In MATLAB software, input the abscissa Xi and ordinate Yi of each discrete point, namely
[0065] X = [3, 6.22, 9.71, 13.54...75.47, 80];
[0066] Y=[5.76,13.37,20,25.54...39,47.66];
[0067] Then use the curve fitting toolbox to perform curve fitting on the discrete points, and you can get ...
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The invention discloses a method for extracting robot path points on complicated curved surfaces on the basis of curvature features of fitted curves. The method includes steps of 1, constructing function surfaces, carrying out Boolean operation on the function surfaces and the complicated curved surfaces and acquiring path curves L by the aid of segmentation processes; 2, carrying out equidistantdiscretion on the path curves L obtained at the step 1; 3, carrying out curve fitting on discrete points generated at the step 2, and acquiring a function relational expression f(x) of the path curves; 4, segmenting the fitted curves according to curvature relations of the path curves; 5, acquiring points from point sets obtained at the step 2, comparing the curvature relations of each current point, the corresponding previous point and the corresponding later point by means of iterative computation by the aid of curvature values, which are computed at the step 3, of the various points, comparing the curvature of the current point to the average curvature of a section, judging whether the current point is a feature point or not, or deeming the current point to be a redundant point if the current point is not the feature point. The method has the advantage that the purposes of simplifying robot commands and guaranteeing uniform and constant robot running speeds can be achieved by the aid of the method without increase of hardware equipment.
Description
technical field [0001] The invention relates to the field of auto parts testing, in particular to a method and system for extracting path points of a complex curved surface robot based on the curvature characteristics of a fitting curve. Background technique [0002] With the wide application of complex surface modeling technology in the industrial field, the use of industrial robots to hold workpieces (dummy, etc.) has become the main implementation method of component testing technology, because industrial robots can achieve precise control of many process parameters. In order to realize the predetermined function on the complex surface, the robot needs to move on the complex surface according to the process requirements, so as to realize the test action that meets the expected index. The path point extraction method of an industrial robot is closely related to the process parameters. Due to the particularity of the component modeling technology, it may be necessary to mai...
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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1671
Inventor 高国有王维陈韬回春郑华康
Owner WUHAN HUAWEI SECIAL PURPOSE AUTOMOBILE DETECTION