Global time optimal trajectory programing method of industrial robot dynamic speed regulation

An industrial robot, time-optimized technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problem of not realizing the track dynamic speed regulation exceeding the limit and normal operation, so as to achieve high-efficiency movement, improve operating accuracy and efficiency Effect

Active Publication Date: 2019-03-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The advantage of this method is that it can detect whether the joint space exceeds the limit in advance, and stop it safely through the algorithm, but the disadvantage is th

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  • Global time optimal trajectory programing method of industrial robot dynamic speed regulation
  • Global time optimal trajectory programing method of industrial robot dynamic speed regulation
  • Global time optimal trajectory programing method of industrial robot dynamic speed regulation

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Embodiment 1

[0056] In this embodiment, the Cartesian spatial linear planning of an industrial robot is taken as an example to describe in detail. A global time optimal trajectory planning method for dynamic speed regulation of an industrial robot, comprising the following steps:

[0057] S1: Input the starting point and ending point data of the motion trajectory of the industrial robot, and input the maximum linear velocity Max_Velo in Cartesian space, the maximum acceleration Max_Accel in Cartesian space, the maximum angular velocity Max_jointVelo in joint space, and the maximum angular acceleration Max_jointAccel in joint space.

[0058] S2: Pre-calculate the motion trajectory of the robot according to the above constraints: In this embodiment, the trapezoidal acceleration and deceleration method is used to pre-calculate the motion trajectory. The pose vectors (α, β, γ) are jointly represented to obtain a set of Cartesian space trajectory points represented by 6 degrees of freedom pose ...

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Abstract

The invention provides a global time optimal trajectory programming method of industrial robot dynamic speed regulation. The global time optimal trajectory programming method comprises the steps thattrajectory points which may overrun are detected in advance by a searching mechanism based on iterative backwards of a fixed searching range, the trajectory points are divided into three classes according to the overrun conditions, corresponding algorithms are provided by a nonlinear problem segmentation linear idea, and particularly when a joint deceleration overruns, pushback and nudge of the trajectory points and a peak cut algorithm are combined to perform speed regulation. Algorithm dynamic speed regulation enables the overrunning trajectory points to meet constraint requirements, starting points of the searching range are continually issued to perform, and synchronous operation of searching detection, dynamic speed regulation and trajectory execution is ensured. By performing smoothing and limiting regulation on the velocity of movement and acceleration of a robot cartesian space and joint space synchronously, an original trajectory is guaranteed to move at a reasonable speed andin a constraint condition range; and time optimal of dynamic speed regulation is realized, smooth and efficient motion of the robot in a whole space is ensured, and the precision and operating efficiency of the robot are improved.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a global time optimal trajectory planning method for dynamic speed regulation of industrial robots. Background technique [0002] Industrial robot trajectory planning is to calculate and plan the position, speed, and acceleration information of each moment during the robot's motion process according to the requirements of the job task. Industrial robots can plan their trajectories in Cartesian space or in joint space. The main advantage of Cartesian space trajectory planning is that the space trajectory can be determined, and it can complete specific job requirements. The disadvantage is that it has a nonlinear relationship with the joint speed and acceleration in the joint space, and it is prone to singularity. The main advantage of trajectory planning in joint space is that no singularity will occur, and trajectory planning is relatively easy. The disadvantage is tha...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 张得礼逯轩王珉陶克梅陈文亮
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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