Error-controllable circular arc transition type smooth track generation method of four-axis industrial robot

Abstract

An error-controllable circular arc transition type smooth track generation method of a four-axis industrial robot comprises the following steps: 1, preprocessing a track of the four-axis industrial robot; traversing all track points; dividing a linear track into a track section to be smoothened and a track section which is not needed to be smoothened based on the position distance and included angles; preprocessing the postures of four axes; and ensuring a minor arc track between two track points; and 2, smoothening a four-axis track, namely, traversing the track section to be smoothened and generated in step 1; and generating a circular arc transition type smooth track of each track section to be smoothened by a geometric iteration method based on the track point error threshold, the position point chord height error threshold and the continuity requirement. According to the method, the G1 continuity under synchronized positions and postures can be realized; the track point error andthe position chord height error among the track points are met; in addition, the generated track can be directly used without changing an existing instruction format of the four-axis industrial robot,so that the working efficiency and quality of the four-axis industrial robot can be improved.

Description

technical field [0001] The invention belongs to the field of trajectory optimization of industrial robots, and in particular relates to an error-controllable four-axis industrial robot arc transition type smooth trajectory generation method. Background technique [0002] Four-axis industrial robots, also known as planar joint (SCARA) robots, have three rotation axes and one translation axis, and are widely used in operations such as handling, assembly and gluing. [0003] The existing motion commands of four-axis industrial robots include linear commands, arc commands and axis joint motion commands. Most complex trajectories consist of linear motion instructions and a small number of circular motion instructions. In order to accurately reach the trajectory point during the operation of the robot, the speed of the robot must be reduced to zero. When the next command is executed, the speed of the robot starts to accelerate from zero. The frequent acceleration and deceleration...

AI Technical Summary

Problems solved by technology

In the trajectory (position and posture, referred to as pose) expression of the existing four-axis industrial robot, it does not have the ability to simultaneously satisfy high continuity (position and posture synchronous continuity) and high precision (satisfy the error of the trajectory point and the position chord height between the trajectory points) error) smooth trajectory expression

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