Industrial robot demonstration track recurrence method and system and robot

An industrial robot and robot technology, applied in the field of robotics, can solve problems such as large end pose error, discontinuous pose curve, uncontrollable change in pose speed, etc., to achieve the effect of reducing errors

Inactive Publication Date: 2019-04-19
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiment of the present invention provides a method, system and robot for reproducing the teaching trajectory of an industrial robot, so as to solve the problems of large end pose errors and unacceptable changes in pose and velocity in the current method of reproducing the teaching trajectory by dragging. control and discontinuous pose curve

Method used

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  • Industrial robot demonstration track recurrence method and system and robot
  • Industrial robot demonstration track recurrence method and system and robot
  • Industrial robot demonstration track recurrence method and system and robot

Examples

Experimental program
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Effect test

Embodiment 1

[0045] like figure 1 As shown, this embodiment provides a method for reproducing the teaching trajectory of an industrial robot, which specifically includes:

[0046] Step S101 : collect the information of each joint of the robot, obtain the pose information of the terminal pose according to the information of each joint of the robot, and filter the pose information.

[0047] In a specific application, drag the robot to generate a teaching trajectory, collect the information of each joint of the robot, and obtain the Cartesian pose information of the end through the positive solution of the robot kinematics. Filter the acquired pose information to eliminate the noise of the pose information. Pose information includes position information and attitude information. It should be noted that obtaining the Cartesian pose information of the terminal through the forward solution of robot kinematics is an existing technology in the field, and how to realize it will not be repeated he...

Embodiment 2

[0060] like image 3 As shown, in this embodiment, step S101 in Embodiment 1 specifically includes:

[0061] Step S201: Drag the robot to generate a teaching trajectory, and collect information about each joint of the robot.

[0062] In a specific application, by dragging the robot, the robot generates a teaching trajectory and collects joint information of each joint of the robot. The information of each joint of the robot can be collected through sensors at each joint of the robot. It is also possible to collect the joint information of the robot through the encoder installed on the joint or motor end of the robot, without limitation.

[0063] Step S202: Determine the Cartesian pose information of the end pose of the robot based on the forward kinematics of the robot according to the joint information of the robot.

[0064] It should be noted that the determination method of the Cartesian pose information of the end pose of the robot based on the robot's forward kinematic...

Embodiment 3

[0068] like Figure 4 As shown, in this embodiment, step S102 in Embodiment 1 specifically includes:

[0069] Step S301: Fitting the collected pose information with a Nurbs curve to obtain a continuous recurring trajectory; the pose information includes position information and attitude information.

[0070] In specific applications, for the collected location information A Nurbs curve is used for fitting to obtain a continuous position curve, and the continuous position curve is: Among them, d i control vertex for the position curve, w i is the weight factor, is the p-th B-spline basis function;

[0071] In specific applications, for the collected attitude information Adopt Nurbs curve to fit, obtain continuous posture curve, described continuous posture curve is: in, Control vertices for attitude Nurbs curves, w i is the weight factor, is the p-th B-spline basis function.

[0072] In specific applications, the use of B-spline curve fitting can ensure the cu...

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Abstract

The invention belongs to the technical field of robots, and provides an industrial robot demonstration track recurrence method and system and a robot. The method comprises the steps that various jointinformation of the robot is collected, and the pose information of the tail end pose is obtained according to the various joint information of the robot; the pose information is subjected to fitting,and a continuous recurrence track is obtained; the running speed of the recurrence track is calculated according to the recurrence track; speed planning is conducted on the recurrence track accordingto the motion speed of the recurrence track; and according to the speed planning result, the position information of the recurrence track in each interpolation period is obtained, and the robot is controlled to move according to the position information. Through collection of the joint information of the robot, fitting is conducted according to the pose information obtained after smoothing, the continuous recurrence track is obtained, the errors of the tail end pose are reduced, meanwhile, it is guaranteed that the curvature of the recurrence track is continuous, speed planning is conducted on the generated recurrence track, and accordingly it is guaranteed that the speed in the track reoccurrence process is controllable.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method, a system and a robot for reproducing a teaching trajectory of an industrial robot. Background technique [0002] At present, the application scope of industrial robots continues to expand, from various traditional application scenarios such as automobile manufacturing, electronic assembly, and food processing, to gradually penetrate into emerging fields such as consumption and services, which puts forward higher requirements for the ease of use and convenience of industrial robots. Require. [0003] Industrial robots generally determine the desired target point and trajectory by teaching the trajectory, and then trigger the repeated execution of the taught trajectory according to external signals. The existing drag teaching trajectory reproduction method mainly includes: fitting the teaching trajectory in the joint space, and approximating the original teach...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/22B25J9/08B25J9/16B25J17/02G09B25/02
CPCB25J9/08B25J9/1602B25J9/1664B25J17/02G09B25/02
Inventor 林炯辉朗需林刘培超曹林攀林俊凯
Owner SHENZHEN YUEJIANG TECH CO LTD
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