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Manipulator trajectory planning method based on sorting process

A technology of manipulators and crafts, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve complex problems and achieve the effects of simplicity, improvement of vibration, and reduction of impact

Inactive Publication Date: 2019-01-01
CHINA ACAD OF AEROSPACE AERODYNAMICS +1
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AI Technical Summary

Problems solved by technology

In the operation space, it is relatively complicated, and the pose, velocity and acceleration of the manipulator must be expressed as a function of time, and then the joint displacement, velocity and acceleration can be derived from the information of the manipulator.

Method used

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  • Manipulator trajectory planning method based on sorting process
  • Manipulator trajectory planning method based on sorting process
  • Manipulator trajectory planning method based on sorting process

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Embodiment Construction

[0024] Parallel manipulators are widely used in food, medical, chemical and other fields, and require high speed and high precision. A typical application for parallel robots is sorting operations, ie pick and place actions. With the great improvement of production efficiency, the demand for pick-and-place action speed is getting stronger and stronger. In the high-speed action state, a series of problems will occur, such as the parallel manipulator's pick-and-place accuracy is greatly reduced, the vibration is severe, and the component parts are worn out. Increase, etc., eventually lead to a significant reduction in the service life of the parallel manipulator, increasing the extra cost of the enterprise.

[0025] Aiming at the characteristics of the parallel manipulator sorting process, aiming at improving the motion stability of the parallel manipulator and reducing the impact of the motion process, this technical solution proposes a joint trajectory planning method based on...

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Abstract

The invention relates to a manipulator trajectory planning method based on a sorting process. The manipulator trajectory planning method based on the sorting process is implemented through the following steps of according to the concrete sorting process, predefining the maximum speed and the accelerated speed of each joint and each degree of freedom of a parallel manipulator, and adopting as constraint conditions during the following trajectory optimizing process; on the basis of basic path points of picking-placing actions of the sorting process, carrying out time-optimal interpolation trajectory optimization, and obtaining an optimal trajectory of an operation space of the parallel manipulator; and mapping the optimal trajectory of the operation space of the parallel manipulator into a joint space, carrying out interpolation trajectory optimization, and obtaining an optimal trajectory of a joint space of the parallel manipulator.

Description

technical field [0001] The invention proposes a joint trajectory planning method based on operation space and joint space. Background technique [0002] Parallel manipulators are widely used in food, medical, chemical and other fields, and require high speed and high precision. A typical application for parallel robots is sorting operations, ie pick and place actions. With the great improvement of production efficiency, the demand for pick-and-place action speed is getting stronger and stronger. In the high-speed action state, a series of problems will occur, such as the parallel manipulator's pick-and-place accuracy is greatly reduced, the vibration is severe, and the component parts are worn out. Increase, etc., eventually lead to a significant reduction in the service life of the parallel manipulator, increasing the extra cost of the enterprise. [0003] Trajectory planning belongs to the low-level planning of manipulator planning. It adds time series information on the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 高维金滕朝华姜金俊张立志
Owner CHINA ACAD OF AEROSPACE AERODYNAMICS
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