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A Parallel Beam Method for Motion Planning of Welding Robot

A technology of robot movement and welding robots, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of time-consuming optimization and achieve the effect of optimizing performance

Active Publication Date: 2022-02-08
苏州丽景智能科技有限公司
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, even for a simple robotic arm, optimizing the entire trajectory is time-consuming

Method used

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  • A Parallel Beam Method for Motion Planning of Welding Robot
  • A Parallel Beam Method for Motion Planning of Welding Robot
  • A Parallel Beam Method for Motion Planning of Welding Robot

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Embodiment Construction

[0057] The parallel beam method of the present invention solves the problem of motion planning of welding robots. The welding robot is defined as a tree-shaped welding robot assembled by some rigid bodies with joints, that is, the bodies are nodes and joints are edges; the motion planning model includes displacement The control variable q(t), which is called configuration, the parameter vector of the joint is the control variable of the motion planning model, q(t) is abbreviated as q, and the admissible function q needs to satisfy the following physical meaning Equation of motion EoM:

[0058]

[0059] = where the subscript r represents the welding robot, the subscript j represents the joint, and M r Indicates the inertia of the welding robot, B r Indicates the influence factor brought by the gravity and speed of the welding robot, M j Indicates the inertia of the joint, B j Indicates the influence factor brought by the gravity and speed of the joint, τ is the torque vec...

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Abstract

The invention relates to a parallel beam method for motion planning of a welding robot. The parallel beam method solves the motion planning problem of a welding robot. The welding robot is defined as a tree-shaped welding robot assembled by joints with some rigid bodies, that is, the body is a node, The motion planning problem is attributed to a semi-infinite optimization problem, and the parallel beam technique is used to solve it. The invention uses an optimization method to solve the motion optimization problem of the welding robot, establishes a mathematical model according to actual requirements, and optimizes the performance of the welding robot under the condition of ensuring the stability of the welding robot.

Description

technical field [0001] The invention belongs to the technical field of automobile manufacturing, and in particular relates to a parallel beam method for motion planning of a welding robot. Background technique [0002] Robot technology is an intelligent technology that converts digital data into physical actions after processing. The core of any robot system research and development is the trajectory. The scientific solution to calculate the trajectory of the robot to achieve the desired purpose or complete the desired task is the robot movement. planning. Because of the diversity and uncertainty of models and environments used for motion calculations, motion planning must be realized through closed-loop control. In automobile manufacturing, welding robots occupy an important position, because the tasks are determined in advance, which requires maximum motion speed and robustness under the constraints of motion performance or under the constraints of joint range, speed, col...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 庞丽萍吴琼肖泽昊吴茂念王金鹤
Owner 苏州丽景智能科技有限公司
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